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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-20 21:45:54 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-20 21:45:54 +0200 |
| commit | 609d266e797cb30d64825e2d0745566248142a7d (patch) | |
| tree | 07d6ca58e3efe1a0a0a36688599bbcece590e305 /src/drivers/meas_airspeed/meas_airspeed.cpp | |
| parent | 9cc284742e4dfd360528cf78bb11fed6619f302b (diff) | |
| parent | 6306644028604411b57deed675d8370841d18e99 (diff) | |
| download | px4-firmware-609d266e797cb30d64825e2d0745566248142a7d.tar.gz px4-firmware-609d266e797cb30d64825e2d0745566248142a7d.tar.bz2 px4-firmware-609d266e797cb30d64825e2d0745566248142a7d.zip | |
Merge branch 'sensor_err_handling' into ekf_params
Diffstat (limited to 'src/drivers/meas_airspeed/meas_airspeed.cpp')
| -rw-r--r-- | src/drivers/meas_airspeed/meas_airspeed.cpp | 13 |
1 files changed, 10 insertions, 3 deletions
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 1ad383ee0..c0f3c28e0 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -288,13 +288,17 @@ MEASAirspeed::collect() void MEASAirspeed::cycle() { + int ret; + /* collection phase? */ if (_collect_phase) { /* perform collection */ - if (OK != collect()) { + ret = collect(); + if (OK != ret) { /* restart the measurement state machine */ start(); + _sensor_ok = false; return; } @@ -318,10 +322,13 @@ MEASAirspeed::cycle() } /* measurement phase */ - if (OK != measure()) { - log("measure error"); + ret = measure(); + if (OK != ret) { + debug("measure error"); } + _sensor_ok = (ret == OK); + /* next phase is collection */ _collect_phase = true; |