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Airspeed Selector: do not run it within the first 2s after system boot #14811

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May 6, 2020
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Airspeed Selector: do not run it within the first 2s after system boot #14811

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10 changes: 9 additions & 1 deletion src/modules/airspeed_selector/airspeed_selector_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -263,6 +263,14 @@ AirspeedModule::check_for_connected_airspeed_sensors()
void
AirspeedModule::Run()
{
_time_now_usec = hrt_absolute_time(); //hrt time of the current cycle

/* do not run the airspeed selector until 2s after system boot, as data from airspeed sensor
and estimator may not be valid yet*/
if (_time_now_usec < 2_s) {
return;
}

perf_begin(_perf_elapsed);

if (!_initialized) {
Expand All @@ -276,7 +284,7 @@ AirspeedModule::Run()
update_params();
}

_time_now_usec = hrt_absolute_time(); //hrt time of the current cycle


bool armed = (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);

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