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df_lsm9ds1_wrapper: new DF submodule, fixes

This commit is contained in:
Julian Oes 2016-06-24 19:43:17 +02:00 committed by Lorenz Meier
parent e56be33e50
commit fedde86bf4
2 changed files with 2 additions and 7 deletions
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2
src/lib/DriverFramework

@ -1 +1 @@
Subproject commit 0010ee479899d9971fdb55d832fcdbcdf36e39bb
Subproject commit d1ab15894a147ecd9fce021f17dd591b352e126c

7
src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
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@ -597,12 +597,6 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
vec_integrated_unused,
integral_dt_unused);
// If we are not receiving the last sample from the FIFO buffer yet, let's stop here
// and wait for more packets.
if (!data.is_last_fifo_sample) {
return 0;
}
// The driver empties the FIFO buffer at 1kHz, however we only need to publish at 250Hz.
// Therefore, only publish every forth time.
++_publish_count;
@ -700,6 +694,7 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
// TODO: when is this ever blocked?
if (!(m_pub_blocked)) {
if (_gyro_topic != nullptr) {
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report);
}