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src/lib/drivers/magnetometer/PX4Magnetometer.cpp: Workaround for sens… #818

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merged 2 commits into from
Nov 19, 2024
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src/lib/drivers/magnetometer/PX4Magnetometer.cpp: Workaround for sens… #818

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Revert "src/lib/drivers/magnetometer/PX4Magnetometer.cpp: Advertise t…
jlaitine Nov 19, 2024
dd6c283
src/lib/drivers/magnetometer/PX4Magnetometer.cpp: Workaround for sens…
jlaitine Nov 19, 2024
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11 changes: 10 additions & 1 deletion src/lib/drivers/magnetometer/PX4Magnetometer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,16 @@ PX4Magnetometer::PX4Magnetometer(uint32_t device_id, enum Rotation rotation) :
_device_id{device_id},
_rotation{rotation}
{
_sensor_pub.advertise();
// Publish initial 0 data just for the sensors module to find
// this device, in case "sensors" module start up before initialization
// of the magnetometer is not fully complete

// TODO: This is a workaround. The "sensors" module should find the mags
// which start publishing data later

sensor_mag_s report = {};
report.device_id = _device_id;
_sensor_pub.publish(report);
}

PX4Magnetometer::~PX4Magnetometer()
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