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mpu9250 : fill correct device ID into uORB topic

This commit is contained in:
Mohammed Kabir 2017-05-24 10:10:32 +02:00 committed by Lorenz Meier
parent d7611cac89
commit 302e2372cf
2 changed files with 3 additions and 10 deletions
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2
src/drivers/mpu9250/mag.cpp
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@ -227,7 +227,7 @@ MPU9250_mag::_measure(struct ak8963_regs data)
mrb.range_ga = 48.0f;
mrb.scaling = _mag_range_scale;
mrb.temperature = _parent->_last_temperature;
mrb.device_id = _parent->get_device_id().devid;
mrb.device_id = _parent->_mag->_device_id.devid;
mrb.error_count = perf_event_count(_mag_errors);

11
src/modules/commander/mag_calibration.cpp
View File

@ -592,14 +592,8 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
// Lock in to correct ORB instance
bool found_cur_mag = false;
for(unsigned i = 0; i < orb_mag_count; i++) {
worker_data.sub_mag[cur_mag] = orb_subscribe_multi(ORB_ID(sensor_mag), cur_mag);
if (worker_data.sub_mag[cur_mag] < 0) {
calibration_log_critical(mavlink_log_pub, "[cal] Mag #%u not found, abort", cur_mag);
result = calibrate_return_error;
break;
}
for(unsigned i = 0; i < orb_mag_count && !found_cur_mag; i++) {
worker_data.sub_mag[cur_mag] = orb_subscribe_multi(ORB_ID(sensor_mag), i);
struct mag_report report;
orb_copy(ORB_ID(sensor_mag), worker_data.sub_mag[cur_mag], &report);
@ -613,7 +607,6 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
if(report.device_id == device_ids[cur_mag]) {
// Device IDs match, correct ORB instance for this mag
found_cur_mag = true;
break;
} else {
orb_unsubscribe(worker_data.sub_mag[cur_mag]);
}