Merge pull request PX4#4052 from PX4/revert_sonar_pub

Revert "px4flow: disable distance data transmission from px4flow sensor"
mazgch · Mar 21, 2016 · 2cf5fb8 · 2cf5fb8
2 parents 20720bd + acf9be4
commit 2cf5fb8
Showing 1 changed file with 12 additions and 12 deletions.
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
@@ -240,17 +240,17 @@ PX4FLOW::init()
 		return ret;
 	}
 
-	//_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
+	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
 	/* get a publish handle on the range finder topic */
-	//struct distance_sensor_s ds_report = {};
+	struct distance_sensor_s ds_report = {};
 
-	//_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
-	//			 &_orb_class_instance, ORB_PRIO_HIGH);
+	_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
+				 &_orb_class_instance, ORB_PRIO_HIGH);
 
-	//if (_distance_sensor_topic == nullptr) {
-	//	DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
-	//}
+	if (_distance_sensor_topic == nullptr) {
+		DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
+	}
 
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */
@@ -554,18 +554,18 @@ PX4FLOW::collect()
 	}
 
 	/* publish to the distance_sensor topic as well */
-	/*struct distance_sensor_s distance_report;
+	struct distance_sensor_s distance_report;
 	distance_report.timestamp = report.timestamp;
 	distance_report.min_distance = PX4FLOW_MIN_DISTANCE;
 	distance_report.max_distance = PX4FLOW_MAX_DISTANCE;
 	distance_report.current_distance = report.ground_distance_m;
 	distance_report.covariance = 0.0f;
 	distance_report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
-	*//* TODO: the ID needs to be properly set */
-	//distance_report.id = 0;
-	//distance_report.orientation = 8;
+	/* TODO: the ID needs to be properly set */
+	distance_report.id = 0;
+	distance_report.orientation = 8;
 
-	//orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &distance_report);
+	orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &distance_report);
 
 	/* post a report to the ring */
 	if (_reports->force(&report)) {