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Baro_PX4: use healthy flag

This commit is contained in:
Randy Mackay 2014-08-13 21:44:07 +09:00
parent d29fe51cb3
commit 76634ee8c3
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Baro/AP_Baro_PX4.cpp
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@ -46,9 +46,9 @@ uint8_t AP_Baro_PX4::read(void)
_accumulate();
// consider the baro healthy if we got a reading in the last 0.2s
healthy = (hrt_absolute_time() - _last_timestamp < 200000);
if (!healthy || _sum_count == 0) {
return healthy;
_flags.healthy = (hrt_absolute_time() - _last_timestamp < 200000);
if (!_flags.healthy || _sum_count == 0) {
return _flags.healthy;
}
_pressure = (_pressure_sum / _sum_count) * 100.0f;