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Periph: Add probe continuous checks to airspeed and compass #26874

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merged 1 commit into from
Apr 24, 2024
Merged

Periph: Add probe continuous checks to airspeed and compass #26874

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2 changes: 1 addition & 1 deletion Tools/AP_Periph/airspeed.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ void AP_Periph_FW::can_airspeed_update(void)
return;
}
#if AP_PERIPH_PROBE_CONTINUOUS
if (!airspeed.healthy()) {
if (option_is_set(PeriphOptions::PROBE_CONTINUOUS) && !hal.util->get_soft_armed() && !airspeed.healthy()) {
uint32_t now = AP_HAL::millis();
static uint32_t last_probe_ms;
if (now - last_probe_ms >= 1000) {
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2 changes: 1 addition & 1 deletion Tools/AP_Periph/compass.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ void AP_Periph_FW::can_mag_update(void)
compass.read();

#if AP_PERIPH_PROBE_CONTINUOUS
if (compass.get_count() == 0) {
if (option_is_set(PeriphOptions::PROBE_CONTINUOUS) && !hal.util->get_soft_armed() && (compass.get_count() == 0)) {
static uint32_t last_probe_ms;
uint32_t now = AP_HAL::millis();
if (now - last_probe_ms >= 1000) {
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