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BebopRangeFinder: Integration into build and starup

This commit is contained in:
Michael Schaeuble 2016-12-21 22:47:41 +01:00 committed by Lorenz Meier
parent 6cb659c8ef
commit 85aa710414
3 changed files with 6 additions and 3 deletions
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2
cmake/configs/posix_bebop_default.cmake
View File

@ -26,6 +26,7 @@ set(config_module_list
platforms/posix/drivers/df_mpu6050_wrapper
platforms/posix/drivers/df_ak8963_wrapper
platforms/posix/drivers/df_bebop_bus_wrapper
platforms/posix/drivers/df_bebop_rangefinder_wrapper
#
# System commands
@ -105,4 +106,5 @@ set(config_df_driver_list
mpu6050
ak8963
bebop_bus
bebop_rangefinder
)

1
posix-configs/bebop/px4.config
View File

@ -30,6 +30,7 @@ param set SYS_MC_EST_GROUP 2
df_ms5607_wrapper start
df_mpu6050_wrapper start -R 8
df_ak8963_wrapper start -R 32
df_bebop_rangefinder_wrapper start
gps start -d /dev/ttyPA1
sensors start
commander start

4
src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp
View File

@ -159,9 +159,9 @@ int DfBebopRangeFinderWrapper::_publish(struct bebop_range &data)
distance_data.id = 0; // TODO set proper ID
distance_data.orientation = 25; // MAV_SENSOR_ROTATION_PITCH_270 TODO check if this is correct
distance_data.orientation = 25; // MAV_SENSOR_ROTATION_PITCH_270
distance_data.covariance = 0.0f;
distance_data.covariance = 1.0f; // TODO set correct value
if (_range_topic == nullptr) {
_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &distance_data,