From d269ddfb4904ff1903c6763926ef88640d5fdffc Mon Sep 17 00:00:00 2001 From: Nicolas MARTIN <59083163+NicolasM0@users.noreply.github.com> Date: Tue, 24 Sep 2024 15:49:47 +0200 Subject: [PATCH] sensors/vehicle_air_data: fix air data publication rate (#23717) Co-authored-by: Nicolas Martin --- src/modules/sensors/vehicle_air_data/VehicleAirData.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp index c18d670cfc..819eac6c2d 100644 --- a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp +++ b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp @@ -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;