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AP_Airspeed: fixed handling of unhealthy airspeed

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this fixes a bug introduced in
https://github.com/ArduPilot/ardupilot/pull/22416 which results in
using bad airspeed data on timeout. The prev_health variable is
updated by the get_pressure call
This commit is contained in:
Andrew Tridgell 2023-08-10 13:26:18 +10:00 committed by Randy Mackay
parent 63cdf38eb3
commit 99b82c16eb
1 changed files with 8 additions and 1 deletions
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9
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -605,6 +605,14 @@ void AP_Airspeed::read(uint8_t i)
return; return;
} }
#ifndef HAL_BUILD_AP_PERIPH
/*
get the healthy state before we call get_pressure() as
get_pressure() overwrites the healthy state
*/
bool prev_healthy = state[i].healthy;
#endif
float raw_pressure = get_pressure(i); float raw_pressure = get_pressure(i);
float airspeed_pressure = raw_pressure - get_offset(i); float airspeed_pressure = raw_pressure - get_offset(i);
@ -612,7 +620,6 @@ void AP_Airspeed::read(uint8_t i)
state[i].corrected_pressure = airspeed_pressure; state[i].corrected_pressure = airspeed_pressure;
#ifndef HAL_BUILD_AP_PERIPH #ifndef HAL_BUILD_AP_PERIPH
bool prev_healthy = state[i].healthy;
if (state[i].cal.start_ms != 0) { if (state[i].cal.start_ms != 0) {
update_calibration(i, raw_pressure); update_calibration(i, raw_pressure);
} }