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sensors: no temperature compensation in HITL

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Temperature compensation is not supported in HITL. Therefore, don't try
and fail. This basically removes the confusing error message that we get
in HITL.
This commit is contained in:
Julian Oes
2018-07-24 18:56:36 +02:00
committed by Lorenz Meier
parent ee3e34cd06
commit 80cac6561f
4 changed files with 35 additions and 38 deletions
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src/modules/sensors/voted_sensors_update.cpp
+11 -17
View File
@@ -148,7 +148,7 @@ void VotedSensorsUpdate::parameters_update()
*/
/* temperature compensation */
_temperature_compensation.parameters_update();
_temperature_compensation.parameters_update(_hil_enabled);
/* gyro */
for (int topic_instance = 0; topic_instance < GYRO_COUNT_MAX; ++topic_instance) {
@@ -602,11 +602,9 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
}
// handle temperature compensation
if (!_hil_enabled) {
if (_temperature_compensation.apply_corrections_accel(uorb_index, accel_data, accel_report.temperature,
offsets[uorb_index], scales[uorb_index]) == 2) {
_corrections_changed = true;
}
if (_temperature_compensation.apply_corrections_accel(uorb_index, accel_data, accel_report.temperature,
offsets[uorb_index], scales[uorb_index]) == 2) {
_corrections_changed = true;
}
// rotate corrected measurements from sensor to body frame
@@ -711,11 +709,9 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)
}
// handle temperature compensation
if (!_hil_enabled) {
if (_temperature_compensation.apply_corrections_gyro(uorb_index, gyro_rate, gyro_report.temperature,
offsets[uorb_index], scales[uorb_index]) == 2) {
_corrections_changed = true;
}
if (_temperature_compensation.apply_corrections_gyro(uorb_index, gyro_rate, gyro_report.temperature,
offsets[uorb_index], scales[uorb_index]) == 2) {
_corrections_changed = true;
}
// rotate corrected measurements from sensor to body frame
@@ -829,11 +825,9 @@ void VotedSensorsUpdate::baro_poll(vehicle_air_data_s &airdata)
float corrected_pressure = 100.0f * baro_report.pressure;
// handle temperature compensation
if (!_hil_enabled) {
if (_temperature_compensation.apply_corrections_baro(uorb_index, corrected_pressure, baro_report.temperature,
offsets[uorb_index], scales[uorb_index]) == 2) {
_corrections_changed = true;
}
if (_temperature_compensation.apply_corrections_baro(uorb_index, corrected_pressure, baro_report.temperature,
offsets[uorb_index], scales[uorb_index]) == 2) {
_corrections_changed = true;
}
// First publication with data
@@ -1080,7 +1074,7 @@ void VotedSensorsUpdate::sensors_poll(sensor_combined_s &raw, vehicle_air_data_s
baro_poll(airdata);
// publish sensor corrections if necessary
if (!_hil_enabled && _corrections_changed) {
if (_corrections_changed) {
_corrections.timestamp = hrt_absolute_time();
if (_sensor_correction_pub == nullptr) {