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fix(lps22hb): correct timestamp_sample to integration midpoint

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The LPS22HB one-shot measurement is integrated over a ~40ms window
(at 25Hz-equivalent internal averaging). The read time corresponds to
the end of the integration window. Correct timestamp_sample to the
midpoint by subtracting CONVERSION_INTERVAL / 2.
This commit is contained in:
Jacob Dahl
2026-03-31 16:37:12 -08:00
committed by Jacob Dahl
parent e253c1e20c
commit ffa10ab362
1 changed files with 6 additions and 2 deletions
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src/drivers/barometer/lps22hb/LPS22HB.cpp
+6 -2
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@@ -139,8 +139,12 @@ int LPS22HB::collect()
uint8_t TEMP_OUT_H; uint8_t TEMP_OUT_H;
} report{}; } report{};
/* this should be fairly close to the end of the measurement, so the best approximation of the time */ /* Correct for measurement integration delay: the one-shot conversion
const hrt_abstime timestamp_sample = hrt_absolute_time(); * was started CONVERSION_INTERVAL ago, so the effective sample
* midpoint is half the conversion interval before now. */
const hrt_abstime now = hrt_absolute_time();
const hrt_abstime half_meas = LPS22HB_CONVERSION_INTERVAL / 2;
const hrt_abstime timestamp_sample = (now > half_meas) ? (now - half_meas) : now;
int ret = _interface->read(STATUS, (uint8_t *)&report, sizeof(report)); int ret = _interface->read(STATUS, (uint8_t *)&report, sizeof(report));
if (ret != OK) { if (ret != OK) {