Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 09:58:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Baro: prevent a race condition in the SITL baro driver

Browse Source
This commit is contained in:
Andrew Tridgell 2013-10-17 17:21:36 +11:00
parent 86afc26609
commit 3393a5c99e
2 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Baro/AP_Baro_HIL.cpp
View File

@ -19,6 +19,7 @@ uint8_t AP_Baro_HIL::read()
uint8_t result = 0; uint8_t result = 0;
if (_count != 0) { if (_count != 0) {
hal.scheduler->suspend_timer_procs();
result = 1; result = 1;
Press = ((float)_pressure_sum) / _count; Press = ((float)_pressure_sum) / _count;
Temp = ((float)_temperature_sum) / _count; Temp = ((float)_temperature_sum) / _count;
@ -26,6 +27,7 @@ uint8_t AP_Baro_HIL::read()
_count = 0; _count = 0;
_pressure_sum = 0; _pressure_sum = 0;
_temperature_sum = 0; _temperature_sum = 0;
hal.scheduler->resume_timer_procs();
} }
return result; return result;

2
libraries/AP_Baro/AP_Baro_HIL.h
View File

@ -13,7 +13,7 @@ private:
float Press; float Press;
int32_t _pressure_sum; int32_t _pressure_sum;
int32_t _temperature_sum; int32_t _temperature_sum;
uint8_t _count; volatile uint8_t _count;
public: public:
bool init(); bool init();