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sensors: always start baro/GPS/mag aggregators if SYS_HAS_* set

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- add new SYS_HAS_GPS parameter
This commit is contained in:
Daniel Agar
2021-08-20 09:12:37 -04:00
parent 8e57a62c9d
commit d9f3c820ab
2 changed files with 23 additions and 12 deletions
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14
src/lib/systemlib/system_params.c
View File

@@ -191,6 +191,20 @@ PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);
*/ */
PARAM_DEFINE_INT32(SYS_CAL_TMAX, 10); PARAM_DEFINE_INT32(SYS_CAL_TMAX, 10);
/**
* Control if the vehicle has a GPS
*
* Disable this if the system has no GPS.
* If disabled, the sensors hub will not process sensor_gps,
* and GPS will not be available for the rest of the system.
*
* @boolean
* @reboot_required true
*
* @group System
*/
PARAM_DEFINE_INT32(SYS_HAS_GPS, 1);
/** /**
* Control if the vehicle has a magnetometer * Control if the vehicle has a magnetometer
* *

7
src/modules/sensors/sensors.cpp
View File

@@ -219,6 +219,7 @@ private:
DEFINE_PARAMETERS( DEFINE_PARAMETERS(
(ParamBool<px4::params::SYS_HAS_BARO>) _param_sys_has_baro, (ParamBool<px4::params::SYS_HAS_BARO>) _param_sys_has_baro,
(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
(ParamBool<px4::params::SYS_HAS_MAG>) _param_sys_has_mag, (ParamBool<px4::params::SYS_HAS_MAG>) _param_sys_has_mag,
(ParamBool<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode (ParamBool<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode
) )
@@ -534,7 +535,6 @@ void Sensors::InitializeVehicleAirData()
{ {
if (_param_sys_has_baro.get()) { if (_param_sys_has_baro.get()) {
if (_vehicle_air_data == nullptr) { if (_vehicle_air_data == nullptr) {
if (orb_exists(ORB_ID(sensor_baro), 0) == PX4_OK) {
_vehicle_air_data = new VehicleAirData(); _vehicle_air_data = new VehicleAirData();
if (_vehicle_air_data) { if (_vehicle_air_data) {
@@ -542,13 +542,12 @@ void Sensors::InitializeVehicleAirData()
} }
} }
} }
}
} }
void Sensors::InitializeVehicleGPSPosition() void Sensors::InitializeVehicleGPSPosition()
{ {
if (_param_sys_has_gps.get()) {
if (_vehicle_gps_position == nullptr) { if (_vehicle_gps_position == nullptr) {
if (orb_exists(ORB_ID(sensor_gps), 0) == PX4_OK) {
_vehicle_gps_position = new VehicleGPSPosition(); _vehicle_gps_position = new VehicleGPSPosition();
if (_vehicle_gps_position) { if (_vehicle_gps_position) {
@@ -602,7 +601,6 @@ void Sensors::InitializeVehicleMagnetometer()
{ {
if (_param_sys_has_mag.get()) { if (_param_sys_has_mag.get()) {
if (_vehicle_magnetometer == nullptr) { if (_vehicle_magnetometer == nullptr) {
if (orb_exists(ORB_ID(sensor_mag), 0) == PX4_OK) {
_vehicle_magnetometer = new VehicleMagnetometer(); _vehicle_magnetometer = new VehicleMagnetometer();
if (_vehicle_magnetometer) { if (_vehicle_magnetometer) {
@@ -610,7 +608,6 @@ void Sensors::InitializeVehicleMagnetometer()
} }
} }
} }
}
} }
void Sensors::Run() void Sensors::Run()