airspeed sensor startup improvements (#7903)

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -1,6 +1,6 @@
 #!nsh
 #
-# Standard startup script for PX4FMU v2, v3, v4 onboard sensor drivers.
+# Standard startup script for sensor drivers.
 #
 
 if ver hwcmp AEROFC_V1
@@ -68,8 +68,6 @@ if ver hwcmp PX4FMU_V2
 then
 	# External I2C bus
 	hmc5883 -C -T -X start
-
-	# External I2C bus
 	lis3mdl -X start
 
 	# Internal I2C bus
@@ -117,6 +115,7 @@ then
 			hmc5883 -C -T -S -R 8 start
 
 		fi
+
 		if [ $BOARD_FMUV3 == 21 ]
 		then
 			# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
@@ -133,7 +132,7 @@ then
 		# V3 build hwtypecmp supports V2|V2M|V30
 		if ver hwtypecmp V2M
 		then
-		# On the PixhawkMini the mpu9250 has been disabled due to HW errata
+			# On the PixhawkMini the mpu9250 has been disabled due to HW errata
 		else
 			mpu9250 start
 		fi
@@ -156,51 +155,63 @@ if ver hwcmp PX4FMU_V4
 then
 	# External I2C bus
 	hmc5883 -C -T -X start
+	lis3mdl -X start
+	bmp280 -I start
 
-	lis3mdl -R 2 start
+	# expansion i2c used for BMM150 rotated by 90deg
+	bmm150 -R 2 start
 
-	# Internal SPI bus is rotated 90 deg yaw
+	if hmc5883 -C -T -S -R 2 start
-	hmc5883 -C -T -S -R 2 start
+	then
-
+		# hmc5883 internal SPI bus is rotated 90 deg yaw
-	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
+	else
-	mpu6000 -R 2 -T 20608 start
+		if lis3mdl -R 2 start
-
+		then
-	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
+			# lis3mdl internal SPI bus is rotated 90 deg yaw
-	mpu6000 -R 2 -T 20602 start
+		else
-
+			# BMI055 gyro internal SPI bus
-	# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
+			bmi055 -G start	
-	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
+		fi
-	# will prevent the incorrect driver from a successful initialization.
+	fi
-
-	# Internal SPI bus mpu9250 is rotated 90 deg yaw
-	mpu9250 -R 2 start
-
-	# Internal SPI bus BMI160
-	bmi160 start
 
 	# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
 	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
 	# will prevent the incorrect driver from a successful initialization.
 
-	# Internal SPI bus BMI055_ACC
+	if mpu6000 -R 2 -T 20602 start
-	bmi055 -A start
+	then
+		# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
+	else
+		if mpu6000 -R 2 -T 20608 start
+		then
+			# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
+		else
+			# BMI055 accel internal SPI bus
+			bmi055 -A start
+		fi
+	fi
 
-	# Internal SPI bus BMI055_GYR
+	# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
-	bmi055 -G start
+	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
+	# will prevent the incorrect driver from a successful initialization.
 
-	# expansion i2c used for BMM150 rotated by 90deg
+	if mpu9250 -R 2 start
-	bmm150 -R 2 start
+	then
-
+		# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
-	# expansion i2c used for BMP280
+	else
-	bmp280 -I start
+		# BMI160 internal SPI bus
+		bmi160 start
+	fi
 fi
 
 if ver hwcmp MINDPX_V2
 then
 	# External I2C bus
 	hmc5883 -C -T -X start
+
 	# Internal I2C bus
 	hmc5883 -C -T -I -R 12 start
+
 	mpu6000 -s -R 8 start
 	mpu9250 -s -R 8 start
 	lsm303d -R 10 start
@@ -219,16 +230,13 @@ fi
 if ver hwcmp AEROFC_V1
 then
 	ms5611 -T 0 start
-
 	mpu9250 -s -R 14 start
 
 	# Possible external compasses
 	hmc5883 -X start
 
 	ist8310 -C -b 1 -R 4 start
-
 	aerofc_adc start
-
 	ll40ls start i2c
 fi
 
@@ -287,26 +295,41 @@ fi
 # Optional drivers
 #
 
-sdp3x_airspeed start
+if [ ${VEHICLE_TYPE} == fw -o ${VEHICLE_TYPE} == vtol ]
-sdp3x_airspeed start -b 2
-
-# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
-# detected as MS5525 because the chip manufacturer was so
-# clever to assign the same I2C address and skip a WHO_AM_I
-# register.
-if [ $BOARD_FMUV3 == 21 ]
 then
-	ms5525_airspeed start -b 2
+	if param compare CBRK_AIRSPD_CHK 0
-else
+	then
-	ms5525_airspeed start
+		if sdp3x_airspeed start
+		then
+		else
+			sdp3x_airspeed start -b 2
+		fi
+
+		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
+		# detected as MS5525 because the chip manufacturer was so
+		# clever to assign the same I2C address and skip a WHO_AM_I
+		# register.
+		if [ $BOARD_FMUV3 == 21 ]
+		then
+			ms5525_airspeed start -b 2
+		else
+			ms5525_airspeed start
+		fi
+
+		if ms4525_airspeed start
+		then
+		else
+			ms4525_airspeed start -b 2
+		fi
+
+		if ets_airspeed start
+		then
+		else
+			ets_airspeed start -b 1
+		fi
+	fi
 fi
 
-ms4525_airspeed start
-ms4525_airspeed start -b 2
-
-ets_airspeed start
-ets_airspeed start -b 1
-
 # Sensors on the PWM interface bank
 if param compare SENS_EN_LL40LS 1
 then
@@ -323,34 +346,29 @@ then
 fi
 
 # lightware serial lidar sensor
-if param compare SENS_EN_SF0X 0
+if param greater SENS_EN_SF0X 0
 then
-else
 	sf0x start
 fi
 
 # lightware i2c lidar sensor
-if param compare SENS_EN_SF1XX 0
+if param greater SENS_EN_SF1XX 0
 then
-else
 	sf1xx start
 fi
 
 # mb12xx sonar sensor
-if param compare SENS_EN_MB12XX 1
+if param greater SENS_EN_MB12XX 0
 then
 	mb12xx start
 fi
 
 # teraranger one tof sensor
-if param compare SENS_EN_TRANGER 0
+if param greater SENS_EN_TRANGER 0
 then
-else
 	teraranger start
 fi
 
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
-if sensors start
+sensors start
-then
-fi

src/drivers/airspeed/airspeed.cpp

@@ -60,7 +60,6 @@
 
 Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
 	I2C("Airspeed", path, bus, address, 100000),
-	_reports(nullptr),
 	_sensor_ok(false),
 	_last_published_sensor_ok(true), /* initialize differently to force publication */
 	_measure_ticks(0),
@@ -90,11 +89,6 @@ Airspeed::~Airspeed()
 		unregister_class_devname(AIRSPEED_BASE_DEVICE_PATH, _class_instance);
 	}
 
-	/* free any existing reports */
-	if (_reports != nullptr) {
-		delete _reports;
-	}
-
 	// free perf counters
 	perf_free(_sample_perf);
 	perf_free(_comms_errors);
@@ -103,18 +97,9 @@ Airspeed::~Airspeed()
 int
 Airspeed::init()
 {
-	int ret = PX4_ERROR;
-
 	/* do I2C init (and probe) first */
-	if (I2C::init() != OK) {
+	if (I2C::init() != PX4_OK) {
-		goto out;
+		return PX4_ERROR;
-	}
-
-	/* allocate basic report buffers */
-	_reports = new ringbuffer::RingBuffer(2, sizeof(differential_pressure_s));
-
-	if (_reports == nullptr) {
-		goto out;
 	}
 
 	/* register alternate interfaces if we have to */
@@ -122,8 +107,7 @@ Airspeed::init()
 
 	/* advertise sensor topic, measure manually to initialize valid report */
 	measure();
-	differential_pressure_s arp;
+	differential_pressure_s arp = {};
-	_reports->get(&arp);
 
 	/* measurement will have generated a report, publish */
 	_airspeed_pub = orb_advertise_multi(ORB_ID(differential_pressure), &arp, &_airspeed_orb_class_instance,
@@ -133,10 +117,7 @@ Airspeed::init()
 		PX4_WARN("uORB started?");
 	}
 
-	ret = OK;
+	return PX4_OK;
-
-out:
-	return ret;
 }
 
 int
@@ -217,6 +198,7 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 				}
 			}
 		}
+		break;
 
 	case SENSORIOCGPOLLRATE:
 		if (_measure_ticks == 0) {
@@ -225,27 +207,6 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 
 		return (1000 / _measure_ticks);
 
-	case SENSORIOCSQUEUEDEPTH: {
-			/* lower bound is mandatory, upper bound is a sanity check */
-			if ((arg < 1) || (arg > 100)) {
-				return -EINVAL;
-			}
-
-			ATOMIC_ENTER;
-
-			if (!_reports->resize(arg)) {
-				ATOMIC_LEAVE;
-				return -ENOMEM;
-			}
-
-			ATOMIC_LEAVE;
-
-			return OK;
-		}
-
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
@@ -269,72 +230,11 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 	}
 }
 
-ssize_t
-Airspeed::read(device::file_t *filp, char *buffer, size_t buflen)
-{
-	unsigned count = buflen / sizeof(differential_pressure_s);
-	differential_pressure_s *abuf = reinterpret_cast<differential_pressure_s *>(buffer);
-	int ret = 0;
-
-	/* buffer must be large enough */
-	if (count < 1) {
-		return -ENOSPC;
-	}
-
-	/* if automatic measurement is enabled */
-	if (_measure_ticks > 0) {
-
-		/*
-		 * While there is space in the caller's buffer, and reports, copy them.
-		 * Note that we may be pre-empted by the workq thread while we are doing this;
-		 * we are careful to avoid racing with them.
-		 */
-		while (count--) {
-			if (_reports->get(abuf)) {
-				ret += sizeof(*abuf);
-				abuf++;
-			}
-		}
-
-		/* if there was no data, warn the caller */
-		return ret ? ret : -EAGAIN;
-	}
-
-	/* manual measurement - run one conversion */
-	do {
-		_reports->flush();
-
-		/* trigger a measurement */
-		if (OK != measure()) {
-			ret = -EIO;
-			break;
-		}
-
-		/* wait for it to complete */
-		usleep(_conversion_interval);
-
-		/* run the collection phase */
-		if (OK != collect()) {
-			ret = -EIO;
-			break;
-		}
-
-		/* state machine will have generated a report, copy it out */
-		if (_reports->get(abuf)) {
-			ret = sizeof(*abuf);
-		}
-
-	} while (0);
-
-	return ret;
-}
-
 void
 Airspeed::start()
 {
 	/* reset the report ring and state machine */
 	_collect_phase = false;
-	_reports->flush();
 
 	/* schedule a cycle to start things */
 	work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
@@ -372,25 +272,7 @@ void
 Airspeed::cycle_trampoline(void *arg)
 {
 	Airspeed *dev = (Airspeed *)arg;
-
 	dev->cycle();
-	// XXX we do not know if this is
-	// really helping - do not update the
-	// subsys state right now
-	//dev->update_status();
-}
 
-void
+	dev->update_status();
-Airspeed::print_info()
-{
-	perf_print_counter(_sample_perf);
-	perf_print_counter(_comms_errors);
-	warnx("poll interval:  %u ticks", _measure_ticks);
-	_reports->print_info("report queue");
-}
-
-void
-Airspeed::new_report(const differential_pressure_s &report)
-{
-	_reports->force(&report);
 }

src/drivers/airspeed/airspeed.h

@@ -31,23 +31,13 @@
  *
  ****************************************************************************/
 
-/**
- * @file airspeed.h
- * @author Simon Wilks
- *
- * Generic driver for airspeed sensors connected via I2C.
- */
-
 #include <drivers/device/i2c.h>
-#include <drivers/device/ringbuffer.h>
 #include <drivers/drv_airspeed.h>
 #include <drivers/drv_hrt.h>
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_workqueue.h>
 #include <systemlib/airspeed.h>
-#include <systemlib/err.h>
-#include <systemlib/param/param.h>
 #include <systemlib/perf_counter.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/subsystem_info.h>
@@ -56,10 +46,6 @@
 /* Default I2C bus */
 static constexpr uint8_t PX4_I2C_BUS_DEFAULT = PX4_I2C_BUS_EXPANSION;
 
-#ifndef CONFIG_SCHED_WORKQUEUE
-# error This requires CONFIG_SCHED_WORKQUEUE.
-#endif
-
 class __EXPORT Airspeed : public device::I2C
 {
 public:
@@ -68,17 +54,9 @@ public:
 
 	virtual int	init();
 
-	virtual ssize_t	read(device::file_t *filp, char *buffer, size_t buflen);
 	virtual int	ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
-	/**
-	 * Diagnostics - print some basic information about the driver.
-	 */
-	virtual void	print_info();
-
 private:
-	ringbuffer::RingBuffer		*_reports;
-
 	/* this class has pointer data members and should not be copied */
 	Airspeed(const Airspeed &);
 	Airspeed &operator=(const Airspeed &);
@@ -118,16 +96,6 @@ protected:
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
 
-
-	/**
-	* Test whether the device supported by the driver is present at a
-	* specific address.
-	*
-	* @param address	The I2C bus address to probe.
-	* @return		True if the device is present.
-	*/
-	int	probe_address(uint8_t address);
-
 	/**
 	* Initialise the automatic measurement state machine and start it.
 	*

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -165,11 +165,6 @@ ETSAirspeed::collect()
 		orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
 	}
 
-	new_report(report);
-
-	/* notify anyone waiting for data */
-	poll_notify(POLLIN);
-
 	ret = OK;
 
 	perf_end(_sample_perf);
@@ -244,10 +239,10 @@ namespace ets_airspeed
 ETSAirspeed	*g_dev;
 
 int start(int i2c_bus);
-int	stop();
+int stop();
-int	test();
+int test();
-int	reset();
+int reset();
-int	info();
+int info();
 
 /**
  * Start the driver.
@@ -272,7 +267,7 @@ start(int i2c_bus)
 		goto fail;
 	}
 
-	if (OK != g_dev->Airspeed::init()) {
+	if (OK != g_dev->init()) {
 		goto fail;
 	}
 
@@ -296,7 +291,8 @@ fail:
 		g_dev = nullptr;
 	}
 
-	PX4_WARN("no ETS airspeed sensor connected on bus %d", i2c_bus);
+	PX4_WARN("not started on bus %d", i2c_bus);
+
 	return PX4_ERROR;
 }
 
@@ -346,7 +342,7 @@ test()
 	}
 
 	PX4_INFO("single read");
-	PX4_INFO("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa);
+	PX4_INFO("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -356,22 +352,23 @@ test()
 
 	/* read the sensor 5x and report each value */
 	for (unsigned i = 0; i < 5; i++) {
-		struct pollfd fds;
+		px4_pollfd_struct_t fds;
 
 		/* wait for data to be ready */
 		fds.fd = fd;
 		fds.events = POLLIN;
-		ret = poll(&fds, 1, 2000);
+		ret = px4_poll(&fds, 1, 2000);
 
 		if (ret != 1) {
 			PX4_ERR("timed out waiting for sensor data");
+			return PX4_ERROR;
 		}
 
 		/* now go get it */
 		sz = px4_read(fd, &report, sizeof(report));
 
 		if (sz != sizeof(report)) {
-			err(1, "periodic read failed");
+			PX4_ERR("periodic read failed");
 		}
 
 		PX4_INFO("periodic read %u", i);
@@ -396,7 +393,7 @@ reset()
 	int fd = px4_open(ETS_PATH, O_RDONLY);
 
 	if (fd < 0) {
-		PX4_ERR("failed ");
+		PX4_ERR("failed");
 		return PX4_ERROR;
 	}
 
@@ -413,22 +410,6 @@ reset()
 	return PX4_OK;
 }
 
-/**
- * Print a little info about the driver.
- */
-int
-info()
-{
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running");
-		return PX4_ERROR;
-	}
-
-	PX4_INFO("state @ %p", g_dev);
-	g_dev->print_info();
-	return PX4_OK;
-}
-
 } // namespace
 
 
@@ -485,13 +466,6 @@ ets_airspeed_main(int argc, char *argv[])
 		return ets_airspeed::reset();
 	}
 
-	/*
-	 * Print driver information.
-	 */
-	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
-		return ets_airspeed::info();
-	}
-
 	ets_airspeed_usage();
 
 	return PX4_OK;

src/drivers/ms4525_airspeed/ms4525_airspeed.cpp

@@ -49,13 +49,10 @@
  *    - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf)
  */
 
-
 #include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
-#include <board_config.h>
-
 #include <systemlib/airspeed.h>
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
@@ -238,11 +235,6 @@ MEASAirspeed::collect()
 		orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
 	}
 
-	new_report(report);
-
-	/* notify anyone waiting for data */
-	poll_notify(POLLIN);
-
 	ret = OK;
 
 	perf_end(_sample_perf);
@@ -382,11 +374,10 @@ namespace meas_airspeed
 
 MEASAirspeed	*g_dev = nullptr;
 
-int	start(int i2c_bus);
+int start(int i2c_bus);
-int	stop();
+int stop();
-int	test();
+int test();
-int	reset();
+int reset();
-int	info();
 
 /**
  * Start the driver.
@@ -412,8 +403,7 @@ start(int i2c_bus)
 		goto fail;
 	}
 
-	/* both versions failed if the init for the MS5525DSO fails, give up */
+	if (OK != g_dev->init()) {
-	if (OK != g_dev->Airspeed::init()) {
 		goto fail;
 	}
 
@@ -437,7 +427,8 @@ fail:
 		g_dev = nullptr;
 	}
 
-	PX4_WARN("no MS4525 airspeed sensor connected on bus %d", i2c_bus);
+	PX4_WARN("not started on bus %d", i2c_bus);
+
 	return PX4_ERROR;
 }
 
@@ -505,7 +496,8 @@ test()
 		ret = px4_poll(&fds, 1, 2000);
 
 		if (ret != 1) {
-			PX4_ERR("timed out");
+			PX4_ERR("timed out waiting for sensor data");
+			return PX4_ERROR;
 		}
 
 		/* now go get it */
@@ -539,7 +531,7 @@ reset()
 	int fd = px4_open(PATH_MS4525, O_RDONLY);
 
 	if (fd < 0) {
-		PX4_ERR("failed ");
+		PX4_ERR("failed");
 		return PX4_ERROR;
 	}
 
@@ -556,23 +548,6 @@ reset()
 	return PX4_OK;
 }
 
-/**
- * Print a little info about the driver.
- */
-int
-info()
-{
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running");
-		return PX4_ERROR;
-	}
-
-	PX4_INFO("state @ %p", g_dev);
-	g_dev->print_info();
-
-	return PX4_OK;
-}
-
 } // namespace
 
 
@@ -583,7 +558,7 @@ meas_airspeed_usage()
 	PX4_INFO("options:");
 	PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
 	PX4_INFO("command:");
-	PX4_INFO("\tstart|stop|reset|test|info");
+	PX4_INFO("\tstart|stop|reset|test");
 }
 
 int
@@ -629,13 +604,6 @@ ms4525_airspeed_main(int argc, char *argv[])
 		return meas_airspeed::reset();
 	}
 
-	/*
-	 * Print driver information.
-	 */
-	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
-		return meas_airspeed::info();
-	}
-
 	meas_airspeed_usage();
 
 	return PX4_OK;

src/drivers/ms5525_airspeed/MS5525.cpp

@@ -264,11 +264,6 @@ MS5525::collect()
 		orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &diff_pressure);
 	}
 
-	new_report(diff_pressure);
-
-	/* notify anyone waiting for data */
-	poll_notify(POLLIN);
-
 	ret = OK;
 
 	perf_end(_sample_perf);

src/drivers/ms5525_airspeed/MS5525.hpp

@@ -48,7 +48,6 @@
 
 /* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
 static constexpr uint8_t I2C_ADDRESS_1_MS5525DSO = 0x76;
-static constexpr uint8_t I2C_ADDRESS_2_MS5525DSO = 0x77;
 
 static constexpr const char PATH_MS5525[] = "/dev/ms5525";
 

src/drivers/ms5525_airspeed/MS5525_main.cpp

@@ -66,22 +66,9 @@ start(uint8_t i2c_bus)
 		goto fail;
 	}
 
-	/* try the next MS5525DSO if init fails */
+	/* try to initialize */
-	if (OK != g_dev->Airspeed::init()) {
+	if (g_dev->init() != PX4_OK) {
-		delete g_dev;
+		goto fail;
-
-		g_dev = new MS5525(i2c_bus, I2C_ADDRESS_2_MS5525DSO, PATH_MS5525);
-
-		/* check if the MS5525DSO was instantiated */
-		if (g_dev == nullptr) {
-			PX4_WARN("MS5525 was not instantiated");
-			goto fail;
-		}
-
-		/* both versions failed if the init for the MS5525DSO fails, give up */
-		if (OK != g_dev->Airspeed::init()) {
-			goto fail;
-		}
 	}
 
 	/* set the poll rate to default, starts automatic data collection */
@@ -104,7 +91,8 @@ fail:
 		g_dev = nullptr;
 	}
 
-	PX4_WARN("no MS5525 airspeed sensor connected on bus %d", i2c_bus);
+	PX4_WARN("not started on bus %d", i2c_bus);
+
 	return PX4_ERROR;
 }
 

src/drivers/sdp3x_airspeed/SDP3X.cpp

@@ -160,11 +160,6 @@ SDP3X::collect()
 		orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
 	}
 
-	new_report(report);
-
-	// notify anyone waiting for data
-	poll_notify(POLLIN);
-
 	ret = OK;
 
 	perf_end(_sample_perf);

src/drivers/sdp3x_airspeed/SDP3X_main.cpp

@@ -41,22 +41,21 @@ namespace sdp3x_airspeed
 {
 SDP3X *g_dev = nullptr;
 
-int start(int i2c_bus);
+int start(uint8_t i2c_bus);
 int stop();
 int test();
 int reset();
-int info();
 
 // Start the driver.
 // This function call only returns once the driver is up and running
 // or failed to detect the sensor.
 int
-start(int i2c_bus)
+start(uint8_t i2c_bus)
 {
 	int fd = -1;
 
 	if (g_dev != nullptr) {
-		PX4_WARN("driver already started");
+		PX4_WARN("already started");
 		return PX4_ERROR;
 	}
 
@@ -68,7 +67,7 @@ start(int i2c_bus)
 	}
 
 	/* try the next SDP3XDSO if init fails */
-	if (OK != g_dev->Airspeed::init()) {
+	if (g_dev->init() != PX4_OK) {
 		delete g_dev;
 
 		g_dev = new SDP3X(i2c_bus, I2C_ADDRESS_2_SDP3X, PATH_SDP3X);
@@ -80,7 +79,7 @@ start(int i2c_bus)
 		}
 
 		/* both versions failed if the init for the SDP3XDSO fails, give up */
-		if (OK != g_dev->Airspeed::init()) {
+		if (g_dev->init() != PX4_OK) {
 			goto fail;
 		}
 	}
@@ -105,7 +104,8 @@ fail:
 		g_dev = nullptr;
 	}
 
-	PX4_WARN("no SDP3X airspeed sensor connected on bus %d", i2c_bus);
+	PX4_WARN("not started on bus %d", i2c_bus);
+
 	return PX4_ERROR;
 }
 
@@ -213,20 +213,6 @@ int reset()
 	return PX4_OK;
 }
 
-// print a little info about the driver
-int
-info()
-{
-	if (g_dev == nullptr) {
-		PX4_ERR("driver not running");
-		return PX4_ERROR;
-	}
-
-	PX4_INFO("state @ %p", g_dev);
-	g_dev->print_info();
-	return PX4_OK;
-}
-
 } // namespace sdp3x_airspeed
 
 
@@ -237,13 +223,13 @@ sdp3x_airspeed_usage()
 	PX4_WARN("options:");
 	PX4_WARN("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
 	PX4_WARN("command:");
-	PX4_WARN("\tstart|stop|reset|test|info");
+	PX4_WARN("\tstart|stop|reset|test");
 }
 
 int
 sdp3x_airspeed_main(int argc, char *argv[])
 {
-	int i2c_bus = PX4_I2C_BUS_DEFAULT;
+	uint8_t i2c_bus = PX4_I2C_BUS_DEFAULT;
 
 	for (int i = 1; i < argc; i++) {
 		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
@@ -281,13 +267,6 @@ sdp3x_airspeed_main(int argc, char *argv[])
 		return sdp3x_airspeed::reset();
 	}
 
-	/*
-	 * Print driver information.
-	 */
-	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
-		return sdp3x_airspeed::info();
-	}
-
 	sdp3x_airspeed_usage();
 
 	return PX4_OK;