diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 32 |
1 files changed, 25 insertions, 7 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index cdcb428dd..d8df2c8ff 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -63,6 +63,7 @@ #include <drivers/drv_rc_input.h> #include <drivers/drv_adc.h> #include <drivers/drv_airspeed.h> +#include <drivers/drv_px4flow.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> @@ -263,6 +264,7 @@ private: float diff_pres_analog_scale; int board_rotation; + int flow_rotation; int external_mag_rotation; float board_offset[3]; @@ -361,6 +363,7 @@ private: param_t battery_current_scaling; param_t board_rotation; + param_t flow_rotation; param_t external_mag_rotation; param_t board_offset[3]; @@ -614,6 +617,7 @@ Sensors::Sensors() : /* rotations */ _parameter_handles.board_rotation = param_find("SENS_BOARD_ROT"); + _parameter_handles.flow_rotation = param_find("SENS_FLOW_ROT"); _parameter_handles.external_mag_rotation = param_find("SENS_EXT_MAG_ROT"); /* rotation offsets */ @@ -831,8 +835,22 @@ Sensors::parameters_update() } param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation)); + param_get(_parameter_handles.flow_rotation, &(_parameters.flow_rotation)); param_get(_parameter_handles.external_mag_rotation, &(_parameters.external_mag_rotation)); + /* set px4flow rotation */ + int flowfd; + flowfd = open(PX4FLOW_DEVICE_PATH, 0); + if (flowfd >= 0) { + int flowret = ioctl(flowfd, SENSORIOCSROTATION, _parameters.flow_rotation); + if (flowret) { + warnx("flow rotation could not be set"); + close(flowfd); + return ERROR; + } + close(flowfd); + } + get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation); get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation); @@ -850,20 +868,20 @@ Sensors::parameters_update() /* update barometer qnh setting */ param_get(_parameter_handles.baro_qnh, &(_parameters.baro_qnh)); - int fd; - fd = open(BARO_DEVICE_PATH, 0); - if (fd < 0) { + int barofd; + barofd = open(BARO_DEVICE_PATH, 0); + if (barofd < 0) { warn("%s", BARO_DEVICE_PATH); errx(1, "FATAL: no barometer found"); } else { - int ret = ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100)); - if (ret) { + int baroret = ioctl(barofd, BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100)); + if (baroret) { warnx("qnh could not be set"); - close(fd); + close(barofd); return ERROR; } - close(fd); + close(barofd); } return OK; |