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AP_Airspeed: added last_update_ms() interface

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This commit is contained in:
Andrew Tridgell 2013-12-30 21:23:58 +11:00
parent e7cf07dfb7
commit 03cc777991
2 changed files with 5 additions and 0 deletions
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1
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -212,4 +212,5 @@ void AP_Airspeed::read(void)
_last_pressure = airspeed_pressure; _last_pressure = airspeed_pressure;
_raw_airspeed = sqrtf(airspeed_pressure * _ratio); _raw_airspeed = sqrtf(airspeed_pressure * _ratio);
_airspeed = 0.7f * _airspeed + 0.3f * _raw_airspeed; _airspeed = 0.7f * _airspeed + 0.3f * _raw_airspeed;
_last_update_ms = hal.scheduler->millis();
} }

4
libraries/AP_Airspeed/AP_Airspeed.h
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@ -131,6 +131,9 @@ public:
// return health status of sensor // return health status of sensor
bool healthy(void) const { return _healthy; } bool healthy(void) const { return _healthy; }
// return time in ms of last update
uint32_t last_update_ms(void) const { return _last_update_ms; }
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
enum pitot_tube_order { PITOT_TUBE_ORDER_POSITIVE =0, enum pitot_tube_order { PITOT_TUBE_ORDER_POSITIVE =0,
@ -150,6 +153,7 @@ private:
float _last_pressure; float _last_pressure;
float _EAS2TAS; float _EAS2TAS;
bool _healthy; bool _healthy;
uint32_t _last_update_ms;
Airspeed_Calibration _calibration; Airspeed_Calibration _calibration;
float _last_saved_ratio; float _last_saved_ratio;