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AP_Baro: work around occasional 0 values from MS5611

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this was seen on the PXF board. It isn't yet known why it happens
This commit is contained in:
Andrew Tridgell 2014-07-07 21:20:05 +10:00
parent 1e20f89f90
commit be02f0c34f
1 changed files with 27 additions and 18 deletions
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45
libraries/AP_Baro/AP_Baro_MS5611.cpp
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@ -363,30 +363,39 @@ void AP_Baro_MS5611::_update(void)
_timer = tnow;
if (_state == 0) {
_s_D2 += _serial->read_adc();// On state 0 we read temp
_d2_count++;
if (_d2_count == 32) {
// we have summed 32 values. This only happens
// when we stop reading the barometer for a long time
// (more than 1.2 seconds)
_s_D2 >>= 1;
_d2_count = 16;
// On state 0 we read temp
uint32_t d2 = _serial->read_adc();
if (d2 != 0) {
_s_D2 += d2;
_d2_count++;
if (_d2_count == 32) {
// we have summed 32 values. This only happens
// when we stop reading the barometer for a long time
// (more than 1.2 seconds)
_s_D2 >>= 1;
_d2_count = 16;
}
}
_state++;
_serial->write(CMD_CONVERT_D1_OSR4096); // Command to read pressure
} else {
_s_D1 += _serial->read_adc();
_d1_count++;
if (_d1_count == 128) {
// we have summed 128 values. This only happens
// when we stop reading the barometer for a long time
// (more than 1.2 seconds)
_s_D1 >>= 1;
_d1_count = 64;
uint32_t d1 = _serial->read_adc();;
if (d1 != 0) {
// occasional zero values have been seen on the PXF
// board. These may be SPI errors, but safest to ignore
_s_D1 += d1;
_d1_count++;
if (_d1_count == 128) {
// we have summed 128 values. This only happens
// when we stop reading the barometer for a long time
// (more than 1.2 seconds)
_s_D1 >>= 1;
_d1_count = 64;
}
// Now a new reading exists
_updated = true;
}
_state++;
// Now a new reading exists
_updated = true;
if (_state == 5) {
_serial->write(CMD_CONVERT_D2_OSR4096); // Command to read temperature
_state = 0;