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AP_Baro: fixed timestamp on baro for PX4 

milliseconds not microseconds
This commit is contained in:
Andrew Tridgell 2013-01-22 20:09:06 +11:00
parent 80eaa52ed8
commit f0469a21f2
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_Baro/AP_Baro_PX4.cpp
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@ -58,7 +58,7 @@ uint8_t AP_Baro_PX4::read(void)
_pressure = (_pressure_sum / _sum_count) * 100.0f;
_temperature = (_temperature_sum / _sum_count) * 10.0f;
_pressure_samples = _sum_count;
_last_update = (uint32_t)_last_timestamp;
_last_update = (uint32_t)_last_timestamp/1000;
_pressure_sum = 0;
_temperature_sum = 0;
_sum_count = 0;
@ -76,7 +76,8 @@ void AP_Baro_PX4::_accumulate(void)
}
_in_accumulate = true;
while (::read(_baro_fd, &baro_report, sizeof(baro_report)) == sizeof(baro_report)) {
while (::read(_baro_fd, &baro_report, sizeof(baro_report)) == sizeof(baro_report) &&
baro_report.timestamp != _last_timestamp) {
_pressure_sum += baro_report.pressure; // Pressure in mbar
_temperature_sum += baro_report.temperature; // degrees celcius
_sum_count++;