MPC9808: Run ScheduleOnInterval() at desired publishing rate and remove elapsed time check and timestamp_sample field from message as no longer needed.

MCP9808: Replaced PX4_INFO with PX4_DEBUG

MCP9808: Update date in headers

MCP9808: Define functions before variables

MCP9808: Increase logging interval for sensor_temp

MCP9808: Removed extra space

MCP9808: Remove this->

msg/SensorTemp.msg

@@ -1,6 +1,4 @@
 uint64 timestamp          # time since system start (microseconds)
-uint64 timestamp_sample	  # Time at which measurement was taken
 
 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
-
 float32  temperature      # Temperature provided by sensor (Celsius)

src/drivers/temperature_sensor/mcp9808/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2025 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

src/drivers/temperature_sensor/mcp9808/mcp9808.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 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
@@ -39,7 +39,7 @@ MCP9808::MCP9808(const I2CSPIDriverConfig &config) :
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
 {
-	_sensor_temp.device_id = this->get_device_id();
+	_sensor_temp.device_id = get_device_id();
 }
 
 MCP9808::~MCP9808()
@@ -53,23 +53,17 @@ void MCP9808::RunImpl()
 {
 	perf_begin(_cycle_perf);
 
-	// publish at around 5HZ
+	float temperature = read_temperature();
-	if ((hrt_elapsed_time(&measurement_time)) > 200_ms) {
 
-		float temperature = read_temperature();
+	if (std::isnan(temperature)) {
-		measurement_time = hrt_absolute_time(); // get the time the measurement was taken
 
-		if (std::isnan(temperature)) {
+		perf_count(_comms_errors);
 
-			perf_count(_comms_errors);
+	} else {
+		_sensor_temp.timestamp = hrt_absolute_time();
+		_sensor_temp.temperature = temperature;
 
-		} else {
+		_sensor_temp_pub.publish(_sensor_temp);
-			_sensor_temp.timestamp = hrt_absolute_time();
-			_sensor_temp.timestamp_sample = measurement_time;
-			_sensor_temp.temperature = temperature;
-
-			_sensor_temp_pub.publish(_sensor_temp);
-		}
 	}
 
 	perf_end(_cycle_perf);
@@ -109,7 +103,7 @@ int MCP9808::init()
 		return ret;
 	}
 
-	PX4_INFO("I2C initialized successfully");
+	PX4_DEBUG("I2C initialized successfully");
 
 	ret = write_reg(MCP9808_REG_CONFIG, 0x0000); // Ensure default configuration
 
@@ -120,7 +114,7 @@ int MCP9808::init()
 
 	_sensor_temp_pub.advertise();
 
-	ScheduleOnInterval(100_ms); // Sample at 10 Hz
+	ScheduleOnInterval(200_ms); // Sample at 5 Hz
 	return PX4_OK;
 }
 

src/drivers/temperature_sensor/mcp9808/mcp9808.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 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
@@ -66,11 +66,10 @@ protected:
 
 private:
 	uORB::PublicationMulti<sensor_temp_s> _sensor_temp_pub{ORB_ID(sensor_temp)};
-	perf_counter_t _cycle_perf;
-	perf_counter_t _comms_errors;
-	sensor_temp_s _sensor_temp{};
 	int read_reg(uint8_t address, uint16_t &data);
 	int write_reg(uint8_t address, uint16_t value);
 	float read_temperature();
-	hrt_abstime measurement_time = 0;
+	sensor_temp_s _sensor_temp{};
+	perf_counter_t _cycle_perf;
+	perf_counter_t _comms_errors;
 };

src/drivers/temperature_sensor/mcp9808/mcp9808_main.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 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
@@ -35,7 +35,7 @@
  * @file mcp9808_main.cpp
  * @author TedObrien
  *
- * Driver for the Microchip MCP9080 Temperature Sensor  connected via I2C.
+ * Driver for the Microchip MCP9080 Temperature Sensor connected via I2C.
  */
 
 #include "mcp9808.h"

src/drivers/temperature_sensor/mcp9808/mcp9808_params.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2025 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

src/modules/logger/logged_topics.cpp

@@ -123,7 +123,7 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("sensor_gyro_fft", 50);
 	add_topic("sensor_selection");
 	add_topic("sensors_status_imu", 200);
-	add_optional_topic("sensor_temp", 10);
+	add_optional_topic("sensor_temp", 100);
 	add_optional_topic("spoilers_setpoint", 1000);
 	add_topic("system_power", 500);
 	add_optional_topic("takeoff_status", 1000);