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Reduce RAM footprint of HoTT driver, fix publication to contain ESC data

This commit is contained in:
Lorenz Meier 2014-05-12 22:57:07 +02:00
parent 29ffb3bad3
commit e09c0dd8b9
1 changed files with 9 additions and 10 deletions
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19
src/drivers/hott/messages.cpp
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@ -62,7 +62,6 @@ static int _airspeed_sub = -1;
static int _esc_sub = -1;
static orb_advert_t _esc_pub;
struct esc_status_s _esc;
static bool _home_position_set = false;
static double _home_lat = 0.0d;
@ -82,8 +81,6 @@ init_sub_messages(void)
void
init_pub_messages(void)
{
memset(&_esc, 0, sizeof(_esc));
_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
}
void
@ -106,13 +103,8 @@ publish_gam_message(const uint8_t *buffer)
size_t size = sizeof(msg);
memset(&msg, 0, size);
memcpy(&msg, buffer, size);
/* announce the esc if needed, just publish else */
if (_esc_pub > 0) {
orb_publish(ORB_ID(esc_status), _esc_pub, &_esc);
} else {
_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
}
struct esc_status_s _esc;
memset(&_esc, 0, sizeof(_esc));
// Publish it.
_esc.esc_count = 1;
@ -123,6 +115,13 @@ publish_gam_message(const uint8_t *buffer)
_esc.esc[0].esc_temperature = msg.temperature1 - 20;
_esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
_esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
/* announce the esc if needed, just publish else */
if (_esc_pub > 0) {
orb_publish(ORB_ID(esc_status), _esc_pub, &_esc);
} else {
_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
}
}
void