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AP_InertialSensor: increase the temp tolerance for INV2 driver for fifo reset

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bugobliterator 2023-03-22 18:34:45 +11:00 committed by Andrew Tridgell
parent 7df64eb330
commit 6eaa05960f
1 changed files with 5 additions and 2 deletions
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7
libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp
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@ -538,7 +538,10 @@ check_registers:
*/
bool AP_InertialSensor_Invensensev2::_check_raw_temp(int16_t t2)
{
if (abs(t2 - _raw_temp) < 400) {
// we have increased this threshold from 400 to 800 to cope with
// few instances observed where the temperature was varying more than
// 400 units on ICM20649
if (abs(t2 - _raw_temp) < 800) {
// cached copy OK
return true;
}
@ -546,7 +549,7 @@ bool AP_InertialSensor_Invensensev2::_check_raw_temp(int16_t t2)
if (_block_read(INV2REG_TEMP_OUT_H, trx, 2)) {
_raw_temp = int16_val(trx, 0);
}
return (abs(t2 - _raw_temp) < 400);
return (abs(t2 - _raw_temp) < 800);
}
bool AP_InertialSensor_Invensensev2::_block_read(uint16_t reg, uint8_t *buf,