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sensors: populate sensors_status_imu healthy flags even in multi-EKF mode

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Daniel Agar
2021-07-23 11:17:08 -04:00
parent af50e25647
commit 7846771c68
1 changed files with 2 additions and 3 deletions
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src/modules/sensors/voted_sensors_update.cpp
+2 -3
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@@ -187,6 +187,8 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw)
// find the best sensor
int accel_best_index = -1;
int gyro_best_index = -1;
_accel.voter.get_best(hrt_absolute_time(), &accel_best_index);
_gyro.voter.get_best(hrt_absolute_time(), &gyro_best_index);
if (!_param_sens_imu_mode.get() && ((_selection.timestamp != 0) || (_sensor_selection_sub.updated()))) {
// use sensor_selection to find best
@@ -213,9 +215,6 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw)
} else {
// use sensor voter to find best if SENS_IMU_MODE is enabled or ORB_ID(sensor_selection) has never published
_accel.voter.get_best(hrt_absolute_time(), &accel_best_index);
_gyro.voter.get_best(hrt_absolute_time(), &gyro_best_index);
checkFailover(_accel, "Accel", events::px4::enums::sensor_type_t::accel);
checkFailover(_gyro, "Gyro", events::px4::enums::sensor_type_t::gyro);
}