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Fix getting the aoa and slip hall id

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This commit is contained in:
Florian Achermann
2021-06-21 08:47:45 +02:00
committed by JaeyoungLim
parent 538b8d9913
commit 69aaa9bad2
1 changed files with 2 additions and 10 deletions
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src/modules/sensors/sensors.cpp
+2 -10
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@@ -338,10 +338,6 @@ Sensors::~Sensors()
sub.unregisterCallback(); sub.unregisterCallback();
} }
for (auto &sub : _sensor_hall_subs) {
sub.unregisterCallback();
}
_vehicle_acceleration.Stop(); _vehicle_acceleration.Stop();
_vehicle_angular_velocity.Stop(); _vehicle_angular_velocity.Stop();
@@ -658,9 +654,7 @@ void Sensors::hall_poll()
// messages and that would mess with the updated flags of the subscribers // messages and that would mess with the updated flags of the subscribers
// find the AoA hall sensor index if not set yet // find the AoA hall sensor index if not set yet
if ((_parameters.CAL_AV_AOA_ID >= 0) && (_parameters.CAL_AV_AOA_ID < MAX_SENSOR_COUNT) && if (_parameters.CAL_AV_AOA_ID >= 0 && _av_aoa_hall_sub_index < 0) {
((_av_aoa_hall_sub_index < 0) || (_av_aoa_hall_sub_index >= MAX_SENSOR_COUNT))) {
_av_aoa_hall_sub_index = getHallSubIndex(_parameters.CAL_AV_AOA_ID); _av_aoa_hall_sub_index = getHallSubIndex(_parameters.CAL_AV_AOA_ID);
if (_av_aoa_hall_sub_index >= 0) { if (_av_aoa_hall_sub_index >= 0) {
@@ -669,9 +663,7 @@ void Sensors::hall_poll()
} }
// find the Slip hall sensor index if not set yet // find the Slip hall sensor index if not set yet
if ((_parameters.CAL_AV_SLIP_ID >= 0) && (_parameters.CAL_AV_SLIP_ID < MAX_SENSOR_COUNT) && if (_parameters.CAL_AV_SLIP_ID >= 0&& _av_slip_hall_sub_index < 0) {
((_av_slip_hall_sub_index < 0) || (_av_slip_hall_sub_index >= MAX_SENSOR_COUNT))) {
_av_slip_hall_sub_index = getHallSubIndex(_parameters.CAL_AV_SLIP_ID); _av_slip_hall_sub_index = getHallSubIndex(_parameters.CAL_AV_SLIP_ID);
if (_av_slip_hall_sub_index >= 0) { if (_av_slip_hall_sub_index >= 0) {