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Revert "px4flow: disable distance data transmission from px4flow sensor" 

This reverts commit 47f79a66d1 because it
was just an intermediate debug commit.
This commit is contained in:
Julian Oes 2016-03-21 19:42:48 +01:00 committed by James Goppert
parent 20720bdfb1
commit acf9be488d
1 changed files with 12 additions and 12 deletions
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24
src/drivers/px4flow/px4flow.cpp
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@ -240,17 +240,17 @@ PX4FLOW::init()
return ret;
}
//_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
/* get a publish handle on the range finder topic */
//struct distance_sensor_s ds_report = {};
struct distance_sensor_s ds_report = {};
//_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
// &_orb_class_instance, ORB_PRIO_HIGH);
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_HIGH);
//if (_distance_sensor_topic == nullptr) {
// DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
//}
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
}
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
@ -554,18 +554,18 @@ PX4FLOW::collect()
}
/* publish to the distance_sensor topic as well */
/*struct distance_sensor_s distance_report;
struct distance_sensor_s distance_report;
distance_report.timestamp = report.timestamp;
distance_report.min_distance = PX4FLOW_MIN_DISTANCE;
distance_report.max_distance = PX4FLOW_MAX_DISTANCE;
distance_report.current_distance = report.ground_distance_m;
distance_report.covariance = 0.0f;
distance_report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
*//* TODO: the ID needs to be properly set */
//distance_report.id = 0;
//distance_report.orientation = 8;
/* TODO: the ID needs to be properly set */
distance_report.id = 0;
distance_report.orientation = 8;
//orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &distance_report);
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &distance_report);
/* post a report to the ring */
if (_reports->force(&report)) {