sensors: Allow for difference in temperature readings across sensors

We need to track the temperature change in each sensor instance individually when using it as basis for publication.
PX4 · Jan 21, 2017 · 1d66d4b · 1d66d4b
1 parent 1beb291
commit 1d66d4b
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/src/modules/sensors/temperature_compensation.cpp b/src/modules/sensors/temperature_compensation.cpp
@@ -378,8 +378,8 @@ int TemperatureCompensation::apply_corrections_gyro(int topic_instance, math::Ve
 
 	int8_t temperaturei = (int8_t)temperature;
 
-	if (temperaturei != _gyro_data.last_temperature) {
-		_gyro_data.last_temperature = temperaturei;
+	if (temperaturei != _gyro_data.last_temperature[topic_instance]) {
+		_gyro_data.last_temperature[topic_instance] = temperaturei;
 		return 2;
 	}
 
@@ -409,8 +409,8 @@ int TemperatureCompensation::apply_corrections_accel(int topic_instance, math::V
 
 	int8_t temperaturei = (int8_t)temperature;
 
-	if (temperaturei != _accel_data.last_temperature) {
-		_accel_data.last_temperature = temperaturei;
+	if (temperaturei != _accel_data.last_temperature[topic_instance]) {
+		_accel_data.last_temperature[topic_instance] = temperaturei;
 		return 2;
 	}
 
@@ -438,8 +438,8 @@ int TemperatureCompensation::apply_corrections_baro(int topic_instance, float &s
 
 	int8_t temperaturei = (int8_t)temperature;
 
-	if (temperaturei != _baro_data.last_temperature) {
-		_baro_data.last_temperature = temperaturei;
+	if (temperaturei != _baro_data.last_temperature[topic_instance]) {
+		_baro_data.last_temperature[topic_instance] = temperaturei;
 		return 2;
 	}
 

diff --git a/src/modules/sensors/temperature_compensation.h b/src/modules/sensors/temperature_compensation.h
@@ -252,10 +252,10 @@ class TemperatureCompensation
 	struct PerSensorData {
 		PerSensorData()
 		{
-			for (int i = 0; i < SENSOR_COUNT_MAX; ++i) { device_mapping[i] = 255; }
+			for (int i = 0; i < SENSOR_COUNT_MAX; ++i) { device_mapping[i] = 255; last_temperature[i] = -100; }
 		}
 		uint8_t device_mapping[SENSOR_COUNT_MAX]; /// map a topic instance to the parameters index
-		int8_t last_temperature = -100;
+		int8_t last_temperature[SENSOR_COUNT_MAX];
 	};
 	PerSensorData _gyro_data;
 	PerSensorData _accel_data;