fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors/vehicle_air_data: fix air data publication rate (#23717)

Browse Source 
Co-authored-by: Nicolas Martin <n.martin@elistair.com>
This commit is contained in:
Nicolas MARTIN 2024-09-24 15:49:47 +02:00 committed by GitHub
parent 454ded1b25
commit d269ddfb49
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
View File

@ -243,7 +243,7 @@ void VehicleAirData::Run()
const hrt_abstime timestamp_sample = _timestamp_sample_sum[instance] / _data_sum_count[instance];
if (timestamp_sample >= _last_publication_timestamp[instance] + interval_us) {
if (time_now_us >= _last_publication_timestamp[instance] + interval_us) {
bool publish = (time_now_us <= timestamp_sample + 1_s);
@ -278,7 +278,7 @@ void VehicleAirData::Run()
_vehicle_air_data_pub.publish(out);
}
_last_publication_timestamp[instance] = timestamp_sample;
_last_publication_timestamp[instance] = time_now_us;
// reset
_timestamp_sample_sum[instance] = 0;