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AP_Periph: fixed airspeed update rate

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This commit is contained in:
Andrew Tridgell 2019-10-19 14:49:41 +11:00
parent d0ff2089c4
commit 5b699fc65d
1 changed files with 6 additions and 5 deletions
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11
Tools/AP_Periph/can.cpp
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@ -1138,19 +1138,20 @@ void AP_Periph_FW::can_airspeed_update(void)
{ {
#ifdef HAL_PERIPH_ENABLE_AIRSPEED #ifdef HAL_PERIPH_ENABLE_AIRSPEED
if (!airspeed.healthy()) { if (!airspeed.healthy()) {
static uint32_t last_probe_ms;
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
static uint32_t last_probe_ms;
if (now - last_probe_ms >= 1000) { if (now - last_probe_ms >= 1000) {
last_probe_ms = now; last_probe_ms = now;
airspeed.init(); airspeed.init();
} }
} }
airspeed.update(false); uint32_t now = AP_HAL::millis();
if (last_airspeed_update_ms == airspeed.last_update_ms()) { if (now - last_airspeed_update_ms < 50) {
// max 20Hz data
return; return;
} }
last_airspeed_update_ms = now;
last_airspeed_update_ms = airspeed.last_update_ms(); airspeed.update(false);
if (!airspeed.healthy()) { if (!airspeed.healthy()) {
// don't send any data // don't send any data
return; return;