diff --git a/src/lib/drivers/accelerometer/PX4Accelerometer.cpp b/src/lib/drivers/accelerometer/PX4Accelerometer.cpp index 1e0363f18e..8b74a8122e 100644 --- a/src/lib/drivers/accelerometer/PX4Accelerometer.cpp +++ b/src/lib/drivers/accelerometer/PX4Accelerometer.cpp @@ -50,10 +50,6 @@ PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Ro // set software low pass filter for controllers updateParams(); configure_filter(_param_imu_accel_cutoff.get()); - - // force initial publish to allocate uORB buffer - // TODO: can be removed once all drivers are in threads - _sensor_accel_pub.update(); } PX4Accelerometer::~PX4Accelerometer() @@ -63,7 +59,8 @@ PX4Accelerometer::~PX4Accelerometer() } } -int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) +int +PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) { switch (cmd) { case ACCELIOCSSCALE: { @@ -85,7 +82,8 @@ int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) } } -void PX4Accelerometer::set_device_type(uint8_t devtype) +void +PX4Accelerometer::set_device_type(uint8_t devtype) { // current DeviceStructure union device::Device::DeviceId device_id; @@ -98,13 +96,15 @@ void PX4Accelerometer::set_device_type(uint8_t devtype) _sensor_accel_pub.get().device_id = device_id.devid; } -void PX4Accelerometer::set_sample_rate(unsigned rate) +void +PX4Accelerometer::set_sample_rate(unsigned rate) { _sample_rate = rate; _filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq()); } -void PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z) +void +PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z) { sensor_accel_s &report = _sensor_accel_pub.get(); report.timestamp = timestamp; @@ -145,7 +145,8 @@ void PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z) } } -void PX4Accelerometer::print_status() +void +PX4Accelerometer::print_status() { PX4_INFO(ACCEL_BASE_DEVICE_PATH " device instance: %d", _class_device_instance); PX4_INFO("sample rate: %d Hz", _sample_rate); diff --git a/src/lib/drivers/barometer/PX4Barometer.cpp b/src/lib/drivers/barometer/PX4Barometer.cpp index 599d529382..7307ce3448 100644 --- a/src/lib/drivers/barometer/PX4Barometer.cpp +++ b/src/lib/drivers/barometer/PX4Barometer.cpp @@ -43,10 +43,6 @@ PX4Barometer::PX4Barometer(uint32_t device_id, uint8_t priority) : _class_device_instance = register_class_devname(BARO_BASE_DEVICE_PATH); _sensor_baro_pub.get().device_id = device_id; - - // force initial publish to allocate uORB buffer - // TODO: can be removed once all drivers are in threads - _sensor_baro_pub.update(); } PX4Barometer::~PX4Barometer() @@ -56,7 +52,8 @@ PX4Barometer::~PX4Barometer() } } -void PX4Barometer::set_device_type(uint8_t devtype) +void +PX4Barometer::set_device_type(uint8_t devtype) { // current DeviceStructure union device::Device::DeviceId device_id; @@ -69,7 +66,8 @@ void PX4Barometer::set_device_type(uint8_t devtype) _sensor_baro_pub.get().device_id = device_id.devid; } -void PX4Barometer::update(hrt_abstime timestamp, float pressure) +void +PX4Barometer::update(hrt_abstime timestamp, float pressure) { sensor_baro_s &report = _sensor_baro_pub.get(); @@ -81,7 +79,8 @@ void PX4Barometer::update(hrt_abstime timestamp, float pressure) _sensor_baro_pub.update(); } -void PX4Barometer::print_status() +void +PX4Barometer::print_status() { PX4_INFO(BARO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance); diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp index a4622e69fd..209eea03e5 100644 --- a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp +++ b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp @@ -50,10 +50,6 @@ PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation r // set software low pass filter for controllers updateParams(); configure_filter(_param_imu_gyro_cutoff.get()); - - // force initial publish to allocate uORB buffer - // TODO: can be removed once all drivers are in threads - _sensor_gyro_pub.update(); } PX4Gyroscope::~PX4Gyroscope() @@ -63,7 +59,8 @@ PX4Gyroscope::~PX4Gyroscope() } } -int PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) +int +PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) { switch (cmd) { case GYROIOCSSCALE: { @@ -85,7 +82,8 @@ int PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) } } -void PX4Gyroscope::set_device_type(uint8_t devtype) +void +PX4Gyroscope::set_device_type(uint8_t devtype) { // current DeviceStructure union device::Device::DeviceId device_id; @@ -98,13 +96,15 @@ void PX4Gyroscope::set_device_type(uint8_t devtype) _sensor_gyro_pub.get().device_id = device_id.devid; } -void PX4Gyroscope::set_sample_rate(unsigned rate) +void +PX4Gyroscope::set_sample_rate(unsigned rate) { _sample_rate = rate; _filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq()); } -void PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z) +void +PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z) { sensor_gyro_s &report = _sensor_gyro_pub.get(); report.timestamp = timestamp; @@ -145,7 +145,8 @@ void PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z) } } -void PX4Gyroscope::print_status() +void +PX4Gyroscope::print_status() { PX4_INFO(GYRO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance); PX4_INFO("sample rate: %d Hz", _sample_rate); diff --git a/src/lib/drivers/magnetometer/PX4Magnetometer.cpp b/src/lib/drivers/magnetometer/PX4Magnetometer.cpp index a66caeccef..8c697c4f44 100644 --- a/src/lib/drivers/magnetometer/PX4Magnetometer.cpp +++ b/src/lib/drivers/magnetometer/PX4Magnetometer.cpp @@ -45,10 +45,6 @@ PX4Magnetometer::PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rota _sensor_mag_pub.get().device_id = device_id; _sensor_mag_pub.get().scaling = 1.0f; - - // force initial publish to allocate uORB buffer - // TODO: can be removed once all drivers are in threads - _sensor_mag_pub.update(); } PX4Magnetometer::~PX4Magnetometer() @@ -58,7 +54,8 @@ PX4Magnetometer::~PX4Magnetometer() } } -int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) +int +PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) { switch (cmd) { case MAGIOCSSCALE: { @@ -94,7 +91,8 @@ int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) } } -void PX4Magnetometer::set_device_type(uint8_t devtype) +void +PX4Magnetometer::set_device_type(uint8_t devtype) { // current DeviceStructure union device::Device::DeviceId device_id; @@ -107,7 +105,8 @@ void PX4Magnetometer::set_device_type(uint8_t devtype) _sensor_mag_pub.get().device_id = device_id.devid; } -void PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z) +void +PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z) { sensor_mag_s &report = _sensor_mag_pub.get(); report.timestamp = timestamp; @@ -136,7 +135,8 @@ void PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_ _sensor_mag_pub.update(); } -void PX4Magnetometer::print_status() +void +PX4Magnetometer::print_status() { PX4_INFO(MAG_BASE_DEVICE_PATH " device instance: %d", _class_device_instance); diff --git a/src/lib/drivers/rangefinder/PX4Rangefinder.cpp b/src/lib/drivers/rangefinder/PX4Rangefinder.cpp index 5574a72315..194ed21949 100644 --- a/src/lib/drivers/rangefinder/PX4Rangefinder.cpp +++ b/src/lib/drivers/rangefinder/PX4Rangefinder.cpp @@ -37,8 +37,7 @@ PX4Rangefinder::PX4Rangefinder(uint32_t device_id, uint8_t priority, uint8_t rotation) : CDev(nullptr), - _distance_sensor_pub{ORB_ID(distance_sensor), priority}, - _rotation{rotation} + _distance_sensor_pub{ORB_ID(distance_sensor), priority} { _class_device_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH); diff --git a/src/lib/drivers/rangefinder/PX4Rangefinder.hpp b/src/lib/drivers/rangefinder/PX4Rangefinder.hpp index 211f605072..c1d484c921 100644 --- a/src/lib/drivers/rangefinder/PX4Rangefinder.hpp +++ b/src/lib/drivers/rangefinder/PX4Rangefinder.hpp @@ -66,8 +66,6 @@ private: uORB::PublicationData _distance_sensor_pub; - const uint8_t _rotation; - int _class_device_instance{-1}; };