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@ -1332,12 +1332,15 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
@@ -1332,12 +1332,15 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
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battery_status.discharged_mah = _battery_mamphour_total; |
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_battery_last_timestamp = battery_status.timestamp; |
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/* lazily publish the battery voltage */ |
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if (_to_battery > 0) { |
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orb_publish(ORB_ID(battery_status), _to_battery, &battery_status); |
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/* the announced battery status would conflict with the simulated battery status in HIL */ |
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if (!(_pub_blocked)) { |
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/* lazily publish the battery voltage */ |
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if (_to_battery > 0) { |
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orb_publish(ORB_ID(battery_status), _to_battery, &battery_status); |
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} else { |
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_to_battery = orb_advertise(ORB_ID(battery_status), &battery_status); |
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} else { |
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_to_battery = orb_advertise(ORB_ID(battery_status), &battery_status); |
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} |
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} |
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} |
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@ -1959,8 +1962,7 @@ PX4IO::print_status()
@@ -1959,8 +1962,7 @@ PX4IO::print_status()
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} |
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int |
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PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) |
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/* Make it obvious that file * isn't used here */ |
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PX4IO::ioctl(file * filep, int cmd, unsigned long arg) |
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{ |
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int ret = OK; |
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@ -2372,8 +2374,9 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
@@ -2372,8 +2374,9 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
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break; |
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default: |
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/* not a recognized value */ |
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ret = -ENOTTY; |
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/* see if the parent class can make any use of it */ |
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ret = CDev::ioctl(filep, cmd, arg); |
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break; |
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} |
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return ret; |
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