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sensors: no temperature compensation in HITL

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Temperature compensation is not supported in HITL. Therefore, don't try
and fail. This basically removes the confusing error message that we get
in HITL.
This commit is contained in:
Julian Oes
2018-07-24 13:40:03 +02:00
committed by Lorenz Meier
parent ee3e34cd06
commit 80cac6561f
4 changed files with 35 additions and 38 deletions
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20
src/modules/sensors/sensors.cpp
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@@ -95,6 +95,7 @@
using namespace DriverFramework;
using namespace sensors;
using namespace time_literals;
/**
* Analog layout:
@@ -584,13 +585,11 @@ Sensors::run()
}
sensor_combined_s raw = {};
sensor_preflight_s preflt = {};
vehicle_air_data_s airdata = {};
vehicle_magnetometer_s magnetometer = {};
struct sensor_preflight_s preflt = {};
_rc_update.init();
_voted_sensors_update.init(raw);
/* (re)load params and calibration */
@@ -600,11 +599,8 @@ Sensors::run()
* do subscriptions
*/
_diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_actuator_ctrl_0_sub = orb_subscribe(ORB_ID(actuator_controls_0));
/* get a set of initial values */
@@ -614,18 +610,10 @@ Sensors::run()
_rc_update.rc_parameter_map_poll(_parameter_handles, true /* forced */);
/* advertise the sensor_preflight topic and make the initial publication */
preflt.accel_inconsistency_m_s_s = 0.0f;
preflt.gyro_inconsistency_rad_s = 0.0f;
preflt.mag_inconsistency_ga = 0.0f;
_sensor_preflight = orb_advertise(ORB_ID(sensor_preflight), &preflt);
/* wakeup source */
px4_pollfd_struct_t poll_fds = {};
poll_fds.events = POLLIN;
uint64_t last_config_update = hrt_absolute_time();
@@ -704,7 +692,7 @@ Sensors::run()
/* keep adding sensors as long as we are not armed,
* when not adding sensors poll for param updates
*/
if (!_armed && hrt_elapsed_time(&last_config_update) > 500 * 1000) {
if (!_armed && hrt_elapsed_time(&last_config_update) > 500_ms) {
_voted_sensors_update.initialize_sensors();
last_config_update = hrt_absolute_time();
@@ -846,7 +834,7 @@ Sensors *Sensors::instantiate(int argc, char *argv[])
return nullptr;
}
return new Sensors(hil_enabled);;
return new Sensors(hil_enabled);
}
int sensors_main(int argc, char *argv[])