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sensors: vehicle_magnetometer respect publication rate limit SENS_MAG_RATE

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Daniel Agar
2021-01-30 21:05:37 -05:00
parent 318c7e83b3
commit ce76c84ce2
1 changed files with 1 additions and 1 deletions
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src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+1 -1
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@@ -442,7 +442,7 @@ void VehicleMagnetometer::Run()
void VehicleMagnetometer::Publish(uint8_t instance, bool multi) void VehicleMagnetometer::Publish(uint8_t instance, bool multi)
{ {
if ((_param_sens_mag_rate.get() > 0) && (_last_publication_timestamp[instance] || if ((_param_sens_mag_rate.get() > 0) && ((_last_publication_timestamp[instance] == 0) ||
(hrt_elapsed_time(&_last_publication_timestamp[instance]) >= (1e6f / _param_sens_mag_rate.get())))) { (hrt_elapsed_time(&_last_publication_timestamp[instance]) >= (1e6f / _param_sens_mag_rate.get())))) {
const Vector3f magnetometer_data = _mag_sum[instance] / _mag_sum_count[instance]; const Vector3f magnetometer_data = _mag_sum[instance] / _mag_sum_count[instance];