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AP_Baro: consider a baro unhealthy when outside of -200 to 200 C

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this helps detects unhealthy baros on SPI where we can't detect comms
failure
This commit is contained in:
Andrew Tridgell 2019-07-31 10:07:24 +10:00
parent 123800ccd2
commit a196c54db6
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_Baro/AP_Baro_Backend.cpp
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@ -23,6 +23,15 @@ void AP_Baro_Backend::update_healthy_flag(uint8_t instance)
(now - _frontend.sensors[instance].last_update_ms < BARO_TIMEOUT_MS) &&
(now - _frontend.sensors[instance].last_change_ms < BARO_DATA_CHANGE_TIMEOUT_MS) &&
!is_zero(_frontend.sensors[instance].pressure);
if (_frontend.sensors[instance].temperature < -200 ||
_frontend.sensors[instance].temperature > 200) {
// if temperature is way out of range then we likely have bad
// data from the sensor, treat is as unhealthy. This is done
// so SPI sensors which have no data validity checking can
// mark a sensor unhealthy
_frontend.sensors[instance].healthy = false;
}
}
void AP_Baro_Backend::backend_update(uint8_t instance)