Commit d9f3c820 authored by Daniel Agar's avatar Daniel Agar
Browse files

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

 - add new SYS_HAS_GPS parameter
parent 8e57a62c
......@@ -191,6 +191,20 @@ PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);
*/
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
*
......
......@@ -219,6 +219,7 @@ private:
DEFINE_PARAMETERS(
(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::SENS_IMU_MODE>) _param_sens_imu_mode
)
......@@ -534,12 +535,10 @@ void Sensors::InitializeVehicleAirData()
{
if (_param_sys_has_baro.get()) {
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) {
_vehicle_air_data->Start();
}
if (_vehicle_air_data) {
_vehicle_air_data->Start();
}
}
}
......@@ -547,8 +546,8 @@ void Sensors::InitializeVehicleAirData()
void Sensors::InitializeVehicleGPSPosition()
{
if (_vehicle_gps_position == nullptr) {
if (orb_exists(ORB_ID(sensor_gps), 0) == PX4_OK) {
if (_param_sys_has_gps.get()) {
if (_vehicle_gps_position == nullptr) {
_vehicle_gps_position = new VehicleGPSPosition();
if (_vehicle_gps_position) {
......@@ -602,12 +601,10 @@ void Sensors::InitializeVehicleMagnetometer()
{
if (_param_sys_has_mag.get()) {
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) {
_vehicle_magnetometer->Start();
}
if (_vehicle_magnetometer) {
_vehicle_magnetometer->Start();
}
}
}
......
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