drivers helper classes remove empty publication (forced advertise)

- this is no longer necessary with all publications outside of ISRs

src/lib/drivers/accelerometer/PX4Accelerometer.cpp

@@ -50,10 +50,6 @@ PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Ro
 	// set software low pass filter for controllers
 	updateParams();
 	configure_filter(_param_imu_accel_cutoff.get());
-
-	// force initial publish to allocate uORB buffer
-	// TODO: can be removed once all drivers are in threads
-	_sensor_accel_pub.update();
 }
 
 PX4Accelerometer::~PX4Accelerometer()
@@ -63,7 +59,8 @@ PX4Accelerometer::~PX4Accelerometer()
 	}
 }
 
-int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
+int
+PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 	case ACCELIOCSSCALE: {
@@ -85,7 +82,8 @@ int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 	}
 }
 
-void PX4Accelerometer::set_device_type(uint8_t devtype)
+void
+PX4Accelerometer::set_device_type(uint8_t devtype)
 {
 	// current DeviceStructure
 	union device::Device::DeviceId device_id;
@@ -98,13 +96,15 @@ void PX4Accelerometer::set_device_type(uint8_t devtype)
 	_sensor_accel_pub.get().device_id = device_id.devid;
 }
 
-void PX4Accelerometer::set_sample_rate(unsigned rate)
+void
+PX4Accelerometer::set_sample_rate(unsigned rate)
 {
 	_sample_rate = rate;
 	_filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq());
 }
 
-void PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z)
+void
+PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z)
 {
 	sensor_accel_s &report = _sensor_accel_pub.get();
 	report.timestamp = timestamp;
@@ -145,7 +145,8 @@ void PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z)
 	}
 }
 
-void PX4Accelerometer::print_status()
+void
+PX4Accelerometer::print_status()
 {
 	PX4_INFO(ACCEL_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
 	PX4_INFO("sample rate: %d Hz", _sample_rate);

src/lib/drivers/barometer/PX4Barometer.cpp

@@ -43,10 +43,6 @@ PX4Barometer::PX4Barometer(uint32_t device_id, uint8_t priority) :
 	_class_device_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
 
 	_sensor_baro_pub.get().device_id = device_id;
-
-	// force initial publish to allocate uORB buffer
-	// TODO: can be removed once all drivers are in threads
-	_sensor_baro_pub.update();
 }
 
 PX4Barometer::~PX4Barometer()
@@ -56,7 +52,8 @@ PX4Barometer::~PX4Barometer()
 	}
 }
 
-void PX4Barometer::set_device_type(uint8_t devtype)
+void
+PX4Barometer::set_device_type(uint8_t devtype)
 {
 	// current DeviceStructure
 	union device::Device::DeviceId device_id;
@@ -69,7 +66,8 @@ void PX4Barometer::set_device_type(uint8_t devtype)
 	_sensor_baro_pub.get().device_id = device_id.devid;
 }
 
-void PX4Barometer::update(hrt_abstime timestamp, float pressure)
+void
+PX4Barometer::update(hrt_abstime timestamp, float pressure)
 {
 	sensor_baro_s &report = _sensor_baro_pub.get();
 
@@ -81,7 +79,8 @@ void PX4Barometer::update(hrt_abstime timestamp, float pressure)
 	_sensor_baro_pub.update();
 }
 
-void PX4Barometer::print_status()
+void
+PX4Barometer::print_status()
 {
 	PX4_INFO(BARO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
 

src/lib/drivers/gyroscope/PX4Gyroscope.cpp

@@ -50,10 +50,6 @@ PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation r
 	// set software low pass filter for controllers
 	updateParams();
 	configure_filter(_param_imu_gyro_cutoff.get());
-
-	// force initial publish to allocate uORB buffer
-	// TODO: can be removed once all drivers are in threads
-	_sensor_gyro_pub.update();
 }
 
 PX4Gyroscope::~PX4Gyroscope()
@@ -63,7 +59,8 @@ PX4Gyroscope::~PX4Gyroscope()
 	}
 }
 
-int PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
+int
+PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 	case GYROIOCSSCALE: {
@@ -85,7 +82,8 @@ int PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 	}
 }
 
-void PX4Gyroscope::set_device_type(uint8_t devtype)
+void
+PX4Gyroscope::set_device_type(uint8_t devtype)
 {
 	// current DeviceStructure
 	union device::Device::DeviceId device_id;
@@ -98,13 +96,15 @@ void PX4Gyroscope::set_device_type(uint8_t devtype)
 	_sensor_gyro_pub.get().device_id = device_id.devid;
 }
 
-void PX4Gyroscope::set_sample_rate(unsigned rate)
+void
+PX4Gyroscope::set_sample_rate(unsigned rate)
 {
 	_sample_rate = rate;
 	_filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq());
 }
 
-void PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z)
+void
+PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z)
 {
 	sensor_gyro_s &report = _sensor_gyro_pub.get();
 	report.timestamp = timestamp;
@@ -145,7 +145,8 @@ void PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z)
 	}
 }
 
-void PX4Gyroscope::print_status()
+void
+PX4Gyroscope::print_status()
 {
 	PX4_INFO(GYRO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
 	PX4_INFO("sample rate: %d Hz", _sample_rate);

src/lib/drivers/magnetometer/PX4Magnetometer.cpp

@@ -45,10 +45,6 @@ PX4Magnetometer::PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rota
 
 	_sensor_mag_pub.get().device_id = device_id;
 	_sensor_mag_pub.get().scaling = 1.0f;
-
-	// force initial publish to allocate uORB buffer
-	// TODO: can be removed once all drivers are in threads
-	_sensor_mag_pub.update();
 }
 
 PX4Magnetometer::~PX4Magnetometer()
@@ -58,7 +54,8 @@ PX4Magnetometer::~PX4Magnetometer()
 	}
 }
 
-int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
+int
+PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 	case MAGIOCSSCALE: {
@@ -94,7 +91,8 @@ int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 	}
 }
 
-void PX4Magnetometer::set_device_type(uint8_t devtype)
+void
+PX4Magnetometer::set_device_type(uint8_t devtype)
 {
 	// current DeviceStructure
 	union device::Device::DeviceId device_id;
@@ -107,7 +105,8 @@ void PX4Magnetometer::set_device_type(uint8_t devtype)
 	_sensor_mag_pub.get().device_id = device_id.devid;
 }
 
-void PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
+void
+PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
 {
 	sensor_mag_s &report = _sensor_mag_pub.get();
 	report.timestamp = timestamp;
@@ -136,7 +135,8 @@ void PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_
 	_sensor_mag_pub.update();
 }
 
-void PX4Magnetometer::print_status()
+void
+PX4Magnetometer::print_status()
 {
 	PX4_INFO(MAG_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
 

src/lib/drivers/rangefinder/PX4Rangefinder.cpp

@@ -37,8 +37,7 @@
 
 PX4Rangefinder::PX4Rangefinder(uint32_t device_id, uint8_t priority, uint8_t rotation) :
 	CDev(nullptr),
-	_distance_sensor_pub{ORB_ID(distance_sensor), priority},
-	_rotation{rotation}
+	_distance_sensor_pub{ORB_ID(distance_sensor), priority}
 {
 	_class_device_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 

src/lib/drivers/rangefinder/PX4Rangefinder.hpp

@@ -66,8 +66,6 @@ private:
 
 	uORB::PublicationData<distance_sensor_s>	_distance_sensor_pub;
 
-	const uint8_t			_rotation;
-
 	int			_class_device_instance{-1};
 
 };