diff options
Diffstat (limited to 'apps/sensors/sensors.cpp')
| -rw-r--r-- | apps/sensors/sensors.cpp | 11 |
1 files changed, 8 insertions, 3 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index f8baa285b..b3fc5b642 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -464,7 +464,9 @@ Sensors::parameters_update() param_get(_parameter_handles.mag_offset[2], &(_parameters.mag_offset[2])); /* scaling of ADC ticks to battery voltage */ - param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)); + if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) { + warnx("Failed updating voltage scaling param"); + } return OK; } @@ -604,8 +606,8 @@ Sensors::accel_poll(struct sensor_combined_s &raw) accel_report.timestamp = hrt_absolute_time(); accel_report.x_raw = (buf[1] == -32768) ? 32767 : -buf[1]; - accel_report.y_raw = (buf[0] == -32768) ? -32767 : buf[0]; - accel_report.z_raw = (buf[2] == -32768) ? -32767 : buf[2]; + accel_report.y_raw = buf[0]; + accel_report.z_raw = buf[2]; const float range_g = 4.0f; /* scale from 14 bit to m/s2 */ @@ -721,7 +723,10 @@ Sensors::vehicle_status_poll() _hil_enabled = false; _publishing = true; } + } + /* XXX run the param update more often right now */ + { /* update parameters */ parameters_update(); |