C++ (Cpp) VotedSensorsUpdate::parameters_update示例

示例#1

文件： sensors.cpp 项目： InvasionsCommander/Firmware

int
Sensors::parameters_update()
{
	/* read the parameter values into _parameters */
	int ret = update_parameters(_parameter_handles, _parameters);

	if (ret) {
		return ret;
	}

	_rc_update.update_rc_functions();
	_voted_sensors_update.parameters_update();

	/* update barometer qnh setting */
	DevHandle h_baro;
	DevMgr::getHandle(BARO0_DEVICE_PATH, h_baro);

#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) && !defined(__PX4_POSIX_OCPOC)

	// TODO: this needs fixing for QURT and Raspberry Pi
	if (!h_baro.isValid()) {
		if (!_hil_enabled) { // in HIL we don't have a baro
			PX4_ERR("no barometer found on %s (%d)", BARO0_DEVICE_PATH, h_baro.getError());
			ret = PX4_ERROR;
		}

	} else {
		int baroret = h_baro.ioctl(BAROIOCSMSLPRESSURE, (unsigned long)(_parameters.baro_qnh * 100));

		if (baroret) {
			PX4_ERR("qnh for baro could not be set");
			ret = PX4_ERROR;
		}
	}

#endif

	return ret;
}