Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-09 17:34:01 -04:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_Baro/AP_Baro_Backend.cpp
View File

@ -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_update_ms < BARO_TIMEOUT_MS) &&
(now - _frontend.sensors[instance].last_change_ms < BARO_DATA_CHANGE_TIMEOUT_MS) && (now - _frontend.sensors[instance].last_change_ms < BARO_DATA_CHANGE_TIMEOUT_MS) &&
!is_zero(_frontend.sensors[instance].pressure); !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) void AP_Baro_Backend::backend_update(uint8_t instance)