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Code Issues Releases Activity

Sometimes the mag stops updating so kickstart it

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This commit is contained in:
James Cotton 2012-03-03 13:19:02 -06:00
parent ab8b71a6c1
commit 91a226fc12
1 changed files with 4 additions and 1 deletions
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5
flight/Modules/Sensors/sensors.c
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@ -192,6 +192,7 @@ static void SensorsTask(void *parameters)
// Main task loop // Main task loop
lastSysTime = xTaskGetTickCount(); lastSysTime = xTaskGetTickCount();
bool error = false; bool error = false;
uint32_t mag_update_time = PIOS_DELAY_GetRaw();
while (1) { while (1) {
// TODO: add timeouts to the sensor reads and set an error if the fail // TODO: add timeouts to the sensor reads and set an error if the fail
sensor_dt_us = PIOS_DELAY_DiffuS(timeval); sensor_dt_us = PIOS_DELAY_DiffuS(timeval);
@ -347,7 +348,8 @@ static void SensorsTask(void *parameters)
// and make it average zero (weakly) // and make it average zero (weakly)
MagnetometerData mag; MagnetometerData mag;
bool mag_updated = false; bool mag_updated = false;
if (PIOS_HMC5883_NewDataAvailable()) {
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
mag_updated = true; mag_updated = true;
int16_t values[3]; int16_t values[3];
PIOS_HMC5883_ReadMag(values); PIOS_HMC5883_ReadMag(values);
@ -355,6 +357,7 @@ static void SensorsTask(void *parameters)
mag.y = values[0] * mag_scale[1] - mag_bias[1]; mag.y = values[0] * mag_scale[1] - mag_bias[1];
mag.z = -values[2] * mag_scale[2] - mag_bias[2]; mag.z = -values[2] * mag_scale[2] - mag_bias[2];
MagnetometerSet(&mag); MagnetometerSet(&mag);
mag_update_time = PIOS_DELAY_GetRaw();
} }
// For debugging purposes here we can output all of the sensors. Do it as a single transaction // For debugging purposes here we can output all of the sensors. Do it as a single transaction