From ce76c84ce2b9ea5fcc21b9177324cf73de57eb24 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 30 Jan 2021 21:05:37 -0500 Subject: [PATCH] sensors: vehicle_magnetometer respect publication rate limit SENS_MAG_RATE --- .../sensors/vehicle_magnetometer/VehicleMagnetometer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp index c718fd3bc0..3258750af8 100644 --- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp +++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp @@ -442,7 +442,7 @@ void VehicleMagnetometer::Run() void VehicleMagnetometer::Publish(uint8_t instance, bool multi) { - if ((_param_sens_mag_rate.get() > 0) && (_last_publication_timestamp[instance] || + if ((_param_sens_mag_rate.get() > 0) && ((_last_publication_timestamp[instance] == 0) || (hrt_elapsed_time(&_last_publication_timestamp[instance]) >= (1e6f / _param_sens_mag_rate.get())))) { const Vector3f magnetometer_data = _mag_sum[instance] / _mag_sum_count[instance];