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sensors/vehicle_air_data: fix air data publication rate (#23717)

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Co-authored-by: Nicolas Martin <n.martin@elistair.com>
This commit is contained in:
Nicolas MARTIN
2024-09-24 15:49:47 +02:00
committed by GitHub
parent 454ded1b25
commit d269ddfb49
1 changed files with 2 additions and 2 deletions
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src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
+2 -2
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@@ -243,7 +243,7 @@ void VehicleAirData::Run()
const hrt_abstime timestamp_sample = _timestamp_sample_sum[instance] / _data_sum_count[instance]; const hrt_abstime timestamp_sample = _timestamp_sample_sum[instance] / _data_sum_count[instance];
if (timestamp_sample >= _last_publication_timestamp[instance] + interval_us) { if (time_now_us >= _last_publication_timestamp[instance] + interval_us) {
bool publish = (time_now_us <= timestamp_sample + 1_s); bool publish = (time_now_us <= timestamp_sample + 1_s);
@@ -278,7 +278,7 @@ void VehicleAirData::Run()
_vehicle_air_data_pub.publish(out); _vehicle_air_data_pub.publish(out);
} }
_last_publication_timestamp[instance] = timestamp_sample; _last_publication_timestamp[instance] = time_now_us;
// reset // reset
_timestamp_sample_sum[instance] = 0; _timestamp_sample_sum[instance] = 0;