PX4Barometer.cpp
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/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "PX4Barometer.hpp"
#include <lib/drivers/device/Device.hpp>
PX4Barometer::PX4Barometer(uint32_t device_id)
{
_sensor_baro_pub.get().device_id = device_id;
}
PX4Barometer::~PX4Barometer()
{
_sensor_baro_pub.unadvertise();
}
void PX4Barometer::set_device_type(uint8_t devtype)
{
// current DeviceStructure
union device::Device::DeviceId device_id;
device_id.devid = _sensor_baro_pub.get().device_id;
// update to new device type
device_id.devid_s.devtype = devtype;
// copy back to report
_sensor_baro_pub.get().device_id = device_id.devid;
}
void PX4Barometer::update(const hrt_abstime ×tamp_sample, float pressure)
{
sensor_baro_s &report = _sensor_baro_pub.get();
report.timestamp_sample = timestamp_sample;
report.pressure = pressure;
report.timestamp = hrt_absolute_time();
_sensor_baro_pub.update();
}