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fix(bmp581): correct timestamp_sample to integration midpoint

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The BMP581 pressure measurement is integrated over a configurable
window (~23ms at 32x pressure / 2x temperature oversampling). The
read time corresponds to the end of the integration window, introducing
a systematic timing bias. Correct timestamp_sample to the midpoint by
subtracting measurement_time / 2.
This commit is contained in:
Jacob Dahl 2026-03-31 14:48:02 -08:00 committed by Jacob Dahl
parent 7f59e5dc16
commit 8170e113fd
1 changed files with 6 additions and 2 deletions
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8
src/drivers/barometer/bmp581/bmp581.cpp
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@ -137,8 +137,12 @@ int BMP581::collect()
perf_begin(_sample_perf);
/* this should be fairly close to the end of the conversion, so the best approximation of the time */
const hrt_abstime timestamp_sample = hrt_absolute_time();
/* Correct for measurement integration delay: the pressure was
* integrated over the preceding measurement_time window, so the
* effective sample midpoint is half the measurement time before now. */
const hrt_abstime now = hrt_absolute_time();
const hrt_abstime half_meas = get_measurement_time() / 2;
const hrt_abstime timestamp_sample = (now > half_meas) ? (now - half_meas) : now;
int_status = get_interrupt_status();