From f9c4c8b22c47b6beba3c119c5e36a525aa57bf41 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 8 Nov 2024 10:37:28 +0100 Subject: [PATCH] VehicleIMU: move setting of _notify_clipping from constructor to ParametersUpdate() Signed-off-by: Silvan Fuhrer --- src/modules/sensors/vehicle_imu/VehicleIMU.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp index f5b7343496..b8c0a9547e 100644 --- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp +++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp @@ -69,9 +69,6 @@ VehicleIMU::VehicleIMU(int instance, uint8_t accel_index, uint8_t gyro_index, co // schedule conservatively until the actual accel & gyro rates are known _sensor_gyro_sub.set_required_updates(sensor_gyro_s::ORB_QUEUE_LENGTH / 2); #endif - - _notify_clipping = _param_sens_imu_notify_clipping.get(); - // advertise immediately to ensure consistent ordering _vehicle_imu_pub.advertise(); _vehicle_imu_status_pub.advertise(); @@ -127,6 +124,8 @@ bool VehicleIMU::ParametersUpdate(bool force) _accel_calibration.ParametersUpdate(); _gyro_calibration.ParametersUpdate(); + _notify_clipping = _param_sens_imu_notify_clipping.get(); + if (accel_calibration_count != _accel_calibration.calibration_count()) { // if calibration changed reset any existing learned calibration _accel_cal_available = false;