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Don't advertise garbage, apply same fix from #4735

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Michael Schaeuble
2016-06-08 10:37:14 +02:00
committed by Lorenz Meier
parent 52d8723d55
commit 47613fefa0
1 changed files with 5 additions and 11 deletions
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16
src/platforms/posix/drivers/df_ms5607_wrapper/df_ms5607_wrapper.cpp
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@@ -112,16 +112,6 @@ DfMS5607Wrapper::~DfMS5607Wrapper()
int DfMS5607Wrapper::start()
{
// TODO: don't publish garbage here
baro_report baro_report = {};
_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &baro_report,
&_baro_orb_class_instance, ORB_PRIO_DEFAULT);
if (_baro_topic == nullptr) {
PX4_ERR("sensor_baro advert fail");
return -1;
}
/* Init device and start sensor. */
int ret = init();
@@ -194,7 +184,11 @@ int DfMS5607Wrapper::_publish(struct baro_sensor_data &data)
// TODO: when is this ever blocked?
if (!(m_pub_blocked)) {
if (_baro_topic != nullptr) {
if (_baro_topic == nullptr) {
_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &baro_report,
&_baro_orb_class_instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(sensor_baro), _baro_topic, &baro_report);
}
}