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AP_Periph: check compass and baro health before using

This commit is contained in:
Andrew Tridgell 2020-12-08 18:08:39 +11:00
parent 74813e7761
commit 39c21e662d
2 changed files with 10 additions and 0 deletions
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3
Tools/AP_Periph/can.cpp
View File

@ -1231,6 +1231,9 @@ void AP_Periph_FW::can_mag_update(void)
if (last_mag_update_ms == compass.last_update_ms()) {
return;
}
if (!compass.healthy()) {
return;
}
last_mag_update_ms = compass.last_update_ms();
const Vector3f &field = compass.get_field();

7
Tools/AP_Periph/msp.cpp
View File

@ -129,6 +129,10 @@ void AP_Periph_FW::send_msp_baro(void)
return;
}
msp.last_baro_ms = baro.get_last_update(0);
if (!baro.healthy()) {
// don't send any data
return;
}
p.instance = 0;
p.time_ms = msp.last_baro_ms;
@ -150,6 +154,9 @@ void AP_Periph_FW::send_msp_compass(void)
if (msp.last_mag_ms == compass.last_update_ms(0)) {
return;
}
if (!compass.healthy()) {
return;
}
msp.last_mag_ms = compass.last_update_ms(0);
const Vector3f &field = compass.get_field(0);