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author | Andrew Tridgell <tridge@samba.org> | 2013-08-28 18:03:43 +1000 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 11:16:55 +0200 |
commit | 935ed2fe49370e5eafe3b5445eda2c5714162216 (patch) | |
tree | f53f029df6be5e8835fde5d1a60a4295e5a2ce7a /src | |
parent | fdbc09e2a53281b8dda7c48676dcf695a79ba373 (diff) | |
download | px4-firmware-935ed2fe49370e5eafe3b5445eda2c5714162216.tar.gz px4-firmware-935ed2fe49370e5eafe3b5445eda2c5714162216.tar.bz2 px4-firmware-935ed2fe49370e5eafe3b5445eda2c5714162216.zip |
meas_airspeed: don't use stale/bad data in airspeed reading
also fixed handling of perf counters on error
Diffstat (limited to 'src')
-rw-r--r-- | src/drivers/meas_airspeed/meas_airspeed.cpp | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 666bd30e6..b1cb2b3d8 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -162,6 +162,8 @@ MEASAirspeed::collect() if (ret < 0) { log("error reading from sensor: %d", ret); + perf_count(_comms_errors); + perf_end(_sample_perf); return ret; } @@ -169,9 +171,14 @@ MEASAirspeed::collect() if (status == 2) { log("err: stale data"); - + perf_count(_comms_errors); + perf_end(_sample_perf); + return ret; } else if (status == 3) { log("err: fault"); + perf_count(_comms_errors); + perf_end(_sample_perf); + return ret; } //uint16_t diff_pres_pa = (val[1]) | ((val[0] & ~(0xC0)) << 8); |