forked from Archive/PX4-Autopilot
hmc5883: Change static topic publication to the class member it should be, initialize collect phase (linter find)
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@ -158,6 +158,7 @@ private:
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int _class_instance;
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orb_advert_t _mag_topic;
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orb_advert_t _subsystem_pub;
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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@ -324,7 +325,9 @@ HMC5883::HMC5883(int bus) :
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_reports(nullptr),
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_range_scale(0), /* default range scale from counts to gauss */
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_range_ga(1.3f),
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_collect_phase(false),
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_mag_topic(-1),
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_subsystem_pub(-1),
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_class_instance(-1),
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_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
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_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
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@ -1137,13 +1140,12 @@ int HMC5883::check_calibration()
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true,
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_calibrated,
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SUBSYSTEM_TYPE_MAG};
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static orb_advert_t pub = -1;
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if (!(_pub_blocked)) {
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if (pub > 0) {
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orb_publish(ORB_ID(subsystem_info), pub, &info);
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if (_subsystem_pub > 0) {
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orb_publish(ORB_ID(subsystem_info), _subsystem_pub, &info);
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} else {
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pub = orb_advertise(ORB_ID(subsystem_info), &info);
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_subsystem_pub = orb_advertise(ORB_ID(subsystem_info), &info);
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}
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}
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}
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