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clean up

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Marco Hauswirth 2025-03-05 09:52:50 +01:00 committed by Marco Hauswirth
parent 6112d59e58
commit c6c0f2228b
2 changed files with 10 additions and 6 deletions
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14
src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
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@ -255,7 +255,7 @@ void VehicleAirData::Run()
}
if (!_relative_calibration_done) {
UpdateRelativeCalibrations(time_now_us);
_relative_calibration_done = UpdateRelativeCalibrations(time_now_us);
}
// Publish
@ -329,13 +329,14 @@ void VehicleAirData::Run()
perf_end(_cycle_perf);
}
void VehicleAirData::UpdateRelativeCalibrations(const hrt_abstime time_now_us)
bool VehicleAirData::UpdateRelativeCalibrations(const hrt_abstime time_now_us)
{
// delay calibration to allow all drivers to start up
_calibration_t_first = _calibration_t_first == 0 ? time_now_us : _calibration_t_first;
if (_calibration_t_first == 0) {
_calibration_t_first = time_now_us;
}
if (time_now_us - _calibration_t_first > 1_s) {
_relative_calibration_done = true;
const float pressure_primary = _data_sum[_selected_sensor_sub_index] / _data_sum_count[_selected_sensor_sub_index];
for (int instance = 0; instance < MAX_SENSOR_COUNT; ++instance) {
@ -348,10 +349,13 @@ void VehicleAirData::UpdateRelativeCalibrations(const hrt_abstime time_now_us)
_calibration[instance].set_offset(new_offset);
_calibration[instance].ParametersSave(instance);
param_notify_changes();
ParametersUpdate(true);
}
}
return true;
}
return false;
}
void VehicleAirData::CheckFailover(const hrt_abstime &time_now_us)

2
src/modules/sensors/vehicle_air_data/VehicleAirData.hpp
View File

@ -85,7 +85,7 @@ private:
void CheckFailover(const hrt_abstime &time_now_us);
bool ParametersUpdate(bool force = false);
void UpdateStatus();
void UpdateRelativeCalibrations(hrt_abstime time_now_us);
bool UpdateRelativeCalibrations(hrt_abstime time_now_us);
static constexpr int MAX_SENSOR_COUNT = 4;