diff options
Diffstat (limited to 'src/drivers/ets_airspeed/ets_airspeed.cpp')
| -rw-r--r-- | src/drivers/ets_airspeed/ets_airspeed.cpp | 15 |
1 files changed, 9 insertions, 6 deletions
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index de371bf32..b6e80ce1d 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -77,6 +77,7 @@ /* I2C bus address */ #define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */ +#define ETS_PATH "/dev/ets_airspeed" /* Register address */ #define READ_CMD 0x07 /* Read the data */ @@ -93,7 +94,7 @@ class ETSAirspeed : public Airspeed { public: - ETSAirspeed(int bus, int address = I2C_ADDRESS); + ETSAirspeed(int bus, int address = I2C_ADDRESS, const char* path = ETS_PATH); protected: @@ -112,8 +113,8 @@ protected: */ extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]); -ETSAirspeed::ETSAirspeed(int bus, int address) : Airspeed(bus, address, - CONVERSION_INTERVAL) +ETSAirspeed::ETSAirspeed(int bus, int address, const char* path) : Airspeed(bus, address, + CONVERSION_INTERVAL, path) { } @@ -184,8 +185,10 @@ ETSAirspeed::collect() report.voltage = 0; report.max_differential_pressure_pa = _max_differential_pressure_pa; - /* announce the airspeed if needed, just publish else */ - orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); + if (_airspeed_pub > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); + } new_report(report); |