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AP_Airspeed: Temperature conversion in consistence with other libraries

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DOMINATOR\Eugene 2018-10-28 19:38:08 +02:00 committed by Francisco Ferreira
parent 99525410ee
commit d3eb24bc01
2 changed files with 3 additions and 3 deletions

4
libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp
View File

@ -129,7 +129,7 @@ void AP_Airspeed_UAVCAN::handle_airspeed(AP_UAVCAN* ap_uavcan, uint8_t node_id,
if (driver != nullptr) { if (driver != nullptr) {
WITH_SEMAPHORE(driver->_sem_airspeed); WITH_SEMAPHORE(driver->_sem_airspeed);
driver->_pressure = cb.msg->differential_pressure; driver->_pressure = cb.msg->differential_pressure;
driver->_temperature = cb.msg->static_air_temperature; driver->_temperature = cb.msg->static_air_temperature - C_TO_KELVIN;
driver->_last_sample_time_ms = AP_HAL::millis(); driver->_last_sample_time_ms = AP_HAL::millis();
} }
@ -164,7 +164,7 @@ bool AP_Airspeed_UAVCAN::get_temperature(float &temperature)
return false; return false;
} }
temperature = _temperature - C_TO_KELVIN; temperature = _temperature;
return true; return true;
} }

2
libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h
View File

@ -32,7 +32,7 @@ private:
static AP_Airspeed_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id); static AP_Airspeed_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id);
float _pressure; // Pascal float _pressure; // Pascal
float _temperature; // Kelvin float _temperature; // Celcius
uint32_t _last_sample_time_ms; uint32_t _last_sample_time_ms;
HAL_Semaphore _sem_airspeed; HAL_Semaphore _sem_airspeed;