diff options
Diffstat (limited to 'src/drivers/meas_airspeed/meas_airspeed.cpp')
| -rw-r--r-- | src/drivers/meas_airspeed/meas_airspeed.cpp | 15 |
1 files changed, 3 insertions, 12 deletions
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index fee13f139..51a059e39 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -216,18 +216,9 @@ MEASAirspeed::collect() report.voltage = 0; report.max_differential_pressure_pa = _max_differential_pressure_pa; - /* announce the airspeed if needed, just publish else */ - if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { - - if (_airspeed_pub > 0) { - /* publish it */ - orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); - } else { - _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &report); - - if (_airspeed_pub < 0) - debug("failed to create differential_pressure publication"); - } + if (_airspeed_pub > 0 && !(_pub_blocked)) { + /* publish it */ + orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report); } new_report(report); |