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sensors only publish airspeed if finite

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Daniel Agar
2018-03-26 08:55:39 -04:00
parent 9d3dfb7864
commit fda2edb7c4
1 changed files with 4 additions and 2 deletions
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src/modules/sensors/sensors.cpp
+4 -2
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@@ -372,8 +372,10 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
airspeed.air_temperature_celsius = air_temperature_celsius;
int instance;
orb_publish_auto(ORB_ID(airspeed), &_airspeed_pub, &airspeed, &instance, ORB_PRIO_DEFAULT);
if (PX4_ISFINITE(airspeed.indicated_airspeed_m_s) && PX4_ISFINITE(airspeed.true_airspeed_m_s)) {
int instance;
orb_publish_auto(ORB_ID(airspeed), &_airspeed_pub, &airspeed, &instance, ORB_PRIO_DEFAULT);
}
}
}