From 28a3dc726f8e4f3696736798a1d92bf7d9de6100 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 12 Jan 2014 11:53:56 +0100
Subject: [PATCH] Support for publication blocking: HMC5883

---
 src/drivers/hmc5883/hmc5883.cpp | 37 +++++++++++++++++----------------
 1 file changed, 19 insertions(+), 18 deletions(-)

diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index d3b99ae66e..49b72cf794 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 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
@@ -381,16 +381,6 @@ HMC5883::init()
 	reset();
 
 	_class_instance = register_class_devname(MAG_DEVICE_PATH);
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
-		/* get a publish handle on the mag topic if we are
-		 * the primary mag */
-		struct mag_report zero_report;
-		memset(&zero_report, 0, sizeof(zero_report));
-		_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report);
-
-		if (_mag_topic < 0)
-			debug("failed to create sensor_mag object");
-	}
 
 	ret = OK;
 	/* sensor is ok, but not calibrated */
@@ -885,9 +875,18 @@ HMC5883::collect()
 	}
 #endif
 
-	if (_mag_topic != -1) {
-		/* publish it */
-		orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
+	if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
+
+		if (_mag_topic != -1) {
+			/* publish it */
+			orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
+		} else {
+			_mag_topic = orb_advertise(ORB_ID(sensor_mag), &new_report);
+
+			if (_mag_topic < 0)
+				debug("failed to create sensor_mag publication");
+		}
+
 	}
 
 	/* post a report to the ring */
@@ -1134,10 +1133,12 @@ int HMC5883::check_calibration()
 			SUBSYSTEM_TYPE_MAG};
 		static orb_advert_t pub = -1;
 
-		if (pub > 0) {
-			orb_publish(ORB_ID(subsystem_info), pub, &info);
-		} else {
-			pub = orb_advertise(ORB_ID(subsystem_info), &info);
+		if (!(_pub_blocked)) {
+			if (pub > 0) {
+				orb_publish(ORB_ID(subsystem_info), pub, &info);
+			} else {
+				pub = orb_advertise(ORB_ID(subsystem_info), &info);
+			}
 		}
 	}