From fda2edb7c423a5db52f580ddf4160b80a6ab869a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 26 Mar 2018 08:55:39 -0400
Subject: [PATCH] sensors only publish airspeed if finite
---
src/modules/sensors/sensors.cpp | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index bc1d6606ca..59ad5cec83 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -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);
+ }
}
}
--
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