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AP_Baro: don't notify the GCS of new pressure reference too often

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This commit is contained in:
Andrew Tridgell 2015-11-09 14:34:07 +11:00
parent e873ff1e5f
commit 840c9e65bb
2 changed files with 13 additions and 2 deletions
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12
libraries/AP_Baro/AP_Baro.cpp
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@ -164,10 +164,18 @@ void AP_Baro::update_calibration()
{ {
for (uint8_t i=0; i<_num_sensors; i++) { for (uint8_t i=0; i<_num_sensors; i++) {
if (healthy(i)) { if (healthy(i)) {
sensors[i].ground_pressure.set_and_notify(get_pressure(i)); sensors[i].ground_pressure.set(get_pressure(i));
} }
float last_temperature = sensors[i].ground_temperature; float last_temperature = sensors[i].ground_temperature;
sensors[i].ground_temperature.set_and_notify(get_calibration_temperature(i)); sensors[i].ground_temperature.set(get_calibration_temperature(i));
// don't notify the GCS too rapidly or we flood the link
uint32_t now = hal.scheduler->millis();
if (now - _last_notify_ms > 10000) {
sensors[i].ground_pressure.notify();
sensors[i].ground_temperature.notify();
_last_notify_ms = now;
}
if (fabsf(last_temperature - sensors[i].ground_temperature) > 3) { if (fabsf(last_temperature - sensors[i].ground_temperature) > 3) {
// reset _EAS2TAS to force it to recalculate. This happens // reset _EAS2TAS to force it to recalculate. This happens
// when a digital airspeed sensor comes online // when a digital airspeed sensor comes online

3
libraries/AP_Baro/AP_Baro.h
View File

@ -158,6 +158,9 @@ private:
DerivativeFilterFloat_Size7 _climb_rate_filter; DerivativeFilterFloat_Size7 _climb_rate_filter;
bool _hil_mode:1; bool _hil_mode:1;
// when did we last notify the GCS of new pressure reference?
uint32_t _last_notify_ms;
void SimpleAtmosphere(const float alt, float &sigma, float &delta, float &theta); void SimpleAtmosphere(const float alt, float &sigma, float &delta, float &theta);
}; };