mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.6 KiB
C++
59 lines
1.6 KiB
C++
#include "AP_Baro_Backend.h"
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
// constructor
|
|
AP_Baro_Backend::AP_Baro_Backend(AP_Baro &baro) :
|
|
_frontend(baro)
|
|
{
|
|
_sem = hal.util->new_semaphore();
|
|
}
|
|
|
|
void AP_Baro_Backend::update_healthy_flag(uint8_t instance)
|
|
{
|
|
if (instance >= _frontend._num_sensors) {
|
|
return;
|
|
}
|
|
if (!_sem->take_nonblocking()) {
|
|
return;
|
|
}
|
|
|
|
// consider a sensor as healthy if it has had an update in the
|
|
// last 0.5 seconds and values are non-zero and have changed within the last 2 seconds
|
|
const uint32_t now = AP_HAL::millis();
|
|
_frontend.sensors[instance].healthy =
|
|
(now - _frontend.sensors[instance].last_update_ms < BARO_TIMEOUT_MS) &&
|
|
(now - _frontend.sensors[instance].last_change_ms < BARO_DATA_CHANGE_TIMEOUT_MS) &&
|
|
!is_zero(_frontend.sensors[instance].pressure);
|
|
|
|
_sem->give();
|
|
}
|
|
|
|
void AP_Baro_Backend::backend_update(uint8_t instance)
|
|
{
|
|
update();
|
|
update_healthy_flag(instance);
|
|
}
|
|
|
|
|
|
/*
|
|
copy latest data to the frontend from a backend
|
|
*/
|
|
void AP_Baro_Backend::_copy_to_frontend(uint8_t instance, float pressure, float temperature)
|
|
{
|
|
if (instance >= _frontend._num_sensors) {
|
|
return;
|
|
}
|
|
uint32_t now = AP_HAL::millis();
|
|
|
|
// check for changes in data values
|
|
if (!is_equal(_frontend.sensors[instance].pressure, pressure) || !is_equal(_frontend.sensors[instance].temperature, temperature)) {
|
|
_frontend.sensors[instance].last_change_ms = now;
|
|
}
|
|
|
|
// update readings
|
|
_frontend.sensors[instance].pressure = pressure;
|
|
_frontend.sensors[instance].temperature = temperature;
|
|
_frontend.sensors[instance].last_update_ms = now;
|
|
}
|