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simulator: only use temperature if baro updated

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This commit is contained in:
Daniel Agar 2020-06-18 21:10:42 -04:00
parent 0d68e1316e
commit b1e360e332
1 changed files with 5 additions and 3 deletions
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8
src/modules/simulator/simulator_mavlink.cpp
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@ -193,11 +193,13 @@ void Simulator::send_controls()
void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor_t &sensors)
{
float temperature = NAN;
// temperature only updated with baro
if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO) {
float temperature = sensors.temperature;
if (PX4_ISFINITE(sensors.temperature)) {
temperature = sensors.temperature;
if (PX4_ISFINITE(temperature)) {
_px4_accel.set_temperature(temperature);
_px4_baro.set_temperature(temperature);
_px4_gyro.set_temperature(temperature);
@ -229,7 +231,7 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
if ((sensors.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS && !_param_sim_dpres_block.get()) {
differential_pressure_s report{};
report.timestamp = time;
report.temperature = sensors.temperature;
report.temperature = temperature;
report.differential_pressure_filtered_pa = sensors.diff_pressure * 100.0f; // convert from millibar to bar;
report.differential_pressure_raw_pa = sensors.diff_pressure * 100.0f; // convert from millibar to bar;