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AP_Airspeed: Fix race condition in SDP3X leading to garbage data

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Michael du Breuil 2019-04-18 14:06:04 -07:00 committed by Tom Pittenger
parent bec9b6dda4
commit a2ac0875a7
1 changed files with 11 additions and 8 deletions
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19
libraries/AP_Airspeed/AP_Airspeed_SDP3X.cpp
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@ -196,13 +196,6 @@ void AP_Airspeed_SDP3X::_timer()
*/ */
float AP_Airspeed_SDP3X::_correct_pressure(float press) float AP_Airspeed_SDP3X::_correct_pressure(float press)
{ {
float temperature;
AP_Baro *baro = AP_Baro::get_singleton();
if (baro == nullptr) {
return press;
}
float sign = 1.0f; float sign = 1.0f;
// fix for tube order // fix for tube order
@ -227,7 +220,17 @@ float AP_Airspeed_SDP3X::_correct_pressure(float press)
return 0.0f; return 0.0f;
} }
get_temperature(temperature); AP_Baro *baro = AP_Baro::get_singleton();
if (baro == nullptr) {
return press;
}
float temperature;
if (!get_temperature(temperature)) {
return press;
}
float rho_air = baro->get_pressure() / (ISA_GAS_CONSTANT * (temperature + C_TO_KELVIN)); float rho_air = baro->get_pressure() / (ISA_GAS_CONSTANT * (temperature + C_TO_KELVIN));
/* /*