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Plane: use baro healthy()

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Use baro last update time in place of healthy to determine whether HIL
sensor updates have started
This commit is contained in:
Randy Mackay 2014-08-13 22:55:48 +09:00
parent 7686660c73
commit 7d7272520e
3 changed files with 4 additions and 4 deletions
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2
ArduPlane/GCS_Mavlink.pde
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@ -216,7 +216,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
// AHRS subsystem is unhealthy // AHRS subsystem is unhealthy
control_sensors_health &= ~MAV_SYS_STATUS_AHRS; control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
} }
if (barometer.healthy) { if (barometer.healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
} }
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) { if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {

4
ArduPlane/system.pde
View File

@ -456,8 +456,8 @@ static void check_short_failsafe()
static void startup_INS_ground(bool do_accel_init) static void startup_INS_ground(bool do_accel_init)
{ {
#if HIL_MODE != HIL_MODE_DISABLED #if HIL_MODE != HIL_MODE_DISABLED
while (!barometer.healthy) { while (barometer.get_last_update() == 0) {
// the barometer becomes healthy when we get the first // the barometer begins updating when we get the first
// HIL_STATE message // HIL_STATE message
gcs_send_text_P(SEVERITY_LOW, PSTR("Waiting for first HIL_STATE message")); gcs_send_text_P(SEVERITY_LOW, PSTR("Waiting for first HIL_STATE message"));
delay(1000); delay(1000);

2
ArduPlane/test.pde
View File

@ -578,7 +578,7 @@ test_pressure(uint8_t argc, const Menu::arg *argv)
while(1) { while(1) {
delay(100); delay(100);
if (!barometer.healthy) { if (!barometer.healthy()) {
cliSerial->println_P(PSTR("not healthy")); cliSerial->println_P(PSTR("not healthy"));
} else { } else {
cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"), cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),