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px4-firmware
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drivers: more adaptations to changed message

This commit is contained in:
Ban Siesta 2015-05-24 15:57:42 +01:00
parent 103d59e9be
commit 0128fef8e0
3 changed files with 16 additions and 12 deletions
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9
src/drivers/mb12xx/mb12xx.cpp
View File

@ -575,13 +575,14 @@ MB12XX::collect()
struct distance_sensor_s report; struct distance_sensor_s report;
report.timestamp = hrt_absolute_time(); report.timestamp = hrt_absolute_time();
report.id = 1; report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
report.type = 1;
report.orientation = 8; report.orientation = 8;
report.current_distance = distance_m; report.current_distance = distance_m;
report.min_distance = get_minimum_distance(); report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance(); report.max_distance = get_maximum_distance();
report.covariance = 0.0f; report.covariance = 0.0f;
/* TODO: set proper ID */
report.id = 0;
/* publish it, if we are the primary */ /* publish it, if we are the primary */
if (_distance_sensor_topic >= 0) { if (_distance_sensor_topic >= 0) {
@ -828,7 +829,7 @@ test()
} }
warnx("single read"); warnx("single read");
warnx("time: %d", report.time_boot_ms); warnx("time: %llu", report.timestamp);
/* start the sensor polling at 2Hz */ /* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@ -856,7 +857,7 @@ test()
} }
warnx("periodic read %u", i); warnx("periodic read %u", i);
warnx("time: %d", report.time_boot_ms); warnx("time: %llu", report.timestamp);
} }
/* reset the sensor polling to default rate */ /* reset the sensor polling to default rate */

9
src/drivers/sf0x/sf0x.cpp
View File

@ -575,13 +575,14 @@ SF0X::collect()
struct distance_sensor_s report; struct distance_sensor_s report;
report.timestamp = hrt_absolute_time(); report.timestamp = hrt_absolute_time();
report.id = 2; report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
report.type = 0;
report.orientation = 8; report.orientation = 8;
report.current_distance = distance_m; report.current_distance = distance_m;
report.min_distance = get_minimum_distance(); report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance(); report.max_distance = get_maximum_distance();
report.covariance = 0.0f; report.covariance = 0.0f;
/* TODO: set proper ID */
report.id = 0;
/* publish it */ /* publish it */
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report); orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
@ -835,7 +836,7 @@ test()
warnx("single read"); warnx("single read");
warnx("val: %0.2f m", (double)report.current_distance); warnx("val: %0.2f m", (double)report.current_distance);
warnx("time: %d", report.time_boot_ms); warnx("time: %llu", report.timestamp);
/* start the sensor polling at 2 Hz rate */ /* start the sensor polling at 2 Hz rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@ -866,7 +867,7 @@ test()
warnx("read #%u", i); warnx("read #%u", i);
warnx("val: %0.3f m", (double)report.current_distance); warnx("val: %0.3f m", (double)report.current_distance);
warnx("time: %d", report.time_boot_ms); warnx("time: %llu", report.timestamp);
} }
/* reset the sensor polling to the default rate */ /* reset the sensor polling to the default rate */

10
src/drivers/trone/trone.cpp
View File

@ -572,13 +572,15 @@ TRONE::collect()
struct distance_sensor_s report; struct distance_sensor_s report;
report.timestamp = hrt_absolute_time(); report.timestamp = hrt_absolute_time();
report.id = 3; /* there is no enum item for a combined LASER and ULTRASOUND which it should be */
report.type = 0; report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
report.orientation = 8; report.orientation = 8;
report.current_distance = distance_m; report.current_distance = distance_m;
report.min_distance = get_minimum_distance(); report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance(); report.max_distance = get_maximum_distance();
report.covariance = 0.0f; report.covariance = 0.0f;
/* TODO: set proper ID */
report.id = 0;
/* publish it, if we are the primary */ /* publish it, if we are the primary */
if (_distance_sensor_topic >= 0) { if (_distance_sensor_topic >= 0) {
@ -807,7 +809,7 @@ test()
warnx("single read"); warnx("single read");
warnx("measurement: %0.2f m", (double)report.current_distance); warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %d", report.time_boot_ms); warnx("time: %llu", report.timestamp);
/* start the sensor polling at 2Hz */ /* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@ -836,7 +838,7 @@ test()
warnx("periodic read %u", i); warnx("periodic read %u", i);
warnx("measurement: %0.3f", (double)report.current_distance); warnx("measurement: %0.3f", (double)report.current_distance);
warnx("time: %d", report.time_boot_ms); warnx("time: %llu", report.timestamp);
} }
/* reset the sensor polling to default rate */ /* reset the sensor polling to default rate */