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AP_Baro: minor improvements to Baro HIL code health check

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This commit is contained in:
Andrew Tridgell 2014-07-22 18:07:48 +10:00
parent 0df2dd9092
commit a458f1bf5f
2 changed files with 12 additions and 7 deletions
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6
libraries/AP_Baro/AP_Baro.cpp
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@ -125,7 +125,8 @@ void AP_Baro::calibrate()
*/ */
void AP_Baro::update_calibration() void AP_Baro::update_calibration()
{ {
_ground_pressure.set(get_pressure()); float pressure = get_pressure();
_ground_pressure.set(pressure);
_ground_temperature.set(get_temperature()); _ground_temperature.set(get_temperature());
} }
@ -166,7 +167,8 @@ float AP_Baro::get_altitude(void)
return _altitude + _alt_offset; return _altitude + _alt_offset;
} }
_altitude = get_altitude_difference(_ground_pressure, get_pressure()); float pressure = get_pressure();
_altitude = get_altitude_difference(_ground_pressure, pressure);
_last_altitude_t = _last_update; _last_altitude_t = _last_update;

3
libraries/AP_Baro/AP_Baro_HIL.cpp
View File

@ -9,6 +9,7 @@ extern const AP_HAL::HAL& hal;
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
bool AP_Baro_HIL::init() bool AP_Baro_HIL::init()
{ {
healthy = false;
return true; return true;
} }
@ -35,11 +36,13 @@ uint8_t AP_Baro_HIL::read()
void AP_Baro_HIL::setHIL(float pressure, float temperature) void AP_Baro_HIL::setHIL(float pressure, float temperature)
{ {
if (pressure > 0) {
_count = 1; _count = 1;
_pressure_sum = pressure; _pressure_sum = pressure;
_temperature_sum = temperature; _temperature_sum = temperature;
_last_update = hal.scheduler->millis(); _last_update = hal.scheduler->millis();
healthy = true; healthy = true;
}
} }