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Periph: Add probe continuous checks to airspeed and compass

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Gone4Dirt 2024-04-23 08:26:19 +01:00 committed by Andrew Tridgell
parent 84900473de
commit 1a39bd1a6e
2 changed files with 2 additions and 2 deletions
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2
Tools/AP_Periph/airspeed.cpp
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@ -21,7 +21,7 @@ void AP_Periph_FW::can_airspeed_update(void)
return; return;
} }
#if AP_PERIPH_PROBE_CONTINUOUS #if AP_PERIPH_PROBE_CONTINUOUS
if (!airspeed.healthy()) { if (option_is_set(PeriphOptions::PROBE_CONTINUOUS) && !hal.util->get_soft_armed() && !airspeed.healthy()) {
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
static uint32_t last_probe_ms; static uint32_t last_probe_ms;
if (now - last_probe_ms >= 1000) { if (now - last_probe_ms >= 1000) {

2
Tools/AP_Periph/compass.cpp
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@ -40,7 +40,7 @@ void AP_Periph_FW::can_mag_update(void)
compass.read(); compass.read();
#if AP_PERIPH_PROBE_CONTINUOUS #if AP_PERIPH_PROBE_CONTINUOUS
if (compass.get_count() == 0) { if (option_is_set(PeriphOptions::PROBE_CONTINUOUS) && !hal.util->get_soft_armed() && (compass.get_count() == 0)) {
static uint32_t last_probe_ms; static uint32_t last_probe_ms;
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
if (now - last_probe_ms >= 1000) { if (now - last_probe_ms >= 1000) {