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simulator: update temperature in sync with baro

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This fixes the case where the baro was not rejected if stuck because the
temperature still varied.
This commit is contained in:
Julian Oes
2020-07-07 13:07:38 +02:00
committed by Daniel Agar
parent 20621e6744
commit 4d76ed34f3
1 changed files with 4 additions and 3 deletions
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7
src/modules/simulator/simulator_mavlink.cpp
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@@ -222,9 +222,6 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
_px4_accel_0.set_temperature(temperature);
_px4_accel_1.set_temperature(temperature);
_px4_baro_0.set_temperature(temperature);
_px4_baro_1.set_temperature(temperature);
_px4_gyro_0.set_temperature(temperature);
_px4_gyro_1.set_temperature(temperature);
@@ -264,11 +261,15 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO && !_baro_blocked) {
if (_baro_stuck) {
_px4_baro_0.update(time, _px4_baro_0.get().pressure);
_px4_baro_0.set_temperature(time, _px4_baro_0.get().temperature);
_px4_baro_1.update(time, _px4_baro_1.get().pressure);
_px4_baro_1.set_temperature(time, _px4_baro_1.get().temperature);
} else {
_px4_baro_0.update(time, sensors.abs_pressure);
_px4_baro_0.set_temperature(temperature);
_px4_baro_1.update(time, sensors.abs_pressure);
_px4_baro_1.set_temperature(temperature);
}
}