Merge remote-tracking branch 'origin/main' into EXEC-343-lld-cap-prob…

…e-logging
Opentrons · Jun 4, 2024 · 806685e · 806685e
2 parents c19f5e2 + 83f8f09
commit 806685e
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/include/sensors/core/tasks/pressure_driver.hpp b/include/sensors/core/tasks/pressure_driver.hpp
@@ -350,7 +350,7 @@ class MMR920 {
             }
         }
         if (bind_sync) {
-            if (std::fabs(pressure) - std::fabs(current_pressure_baseline_pa) >
+            if (std::fabs(pressure - current_pressure_baseline_pa) >
                 threshold_pascals) {
                 hardware.set_sync();
             } else {
@@ -360,11 +360,10 @@ class MMR920 {
 
         if (echo_this_time) {
 #ifdef USE_SENSOR_MOVE
-            // send a response with 9999 to make an overload of the buffer
-            // visible
-            if (sensor_buffer_index < SENSOR_BUFFER_SIZE) {
-                (*p_buff).at(sensor_buffer_index) = pressure;
-                sensor_buffer_index++;
+            auto response_pressure = pressure - current_pressure_baseline_pa;
+            if (pressure_buffer_index < PRESSURE_SENSOR_BUFFER_SIZE) {
+                (*p_buff).at(pressure_buffer_index) = response_pressure;
+                pressure_buffer_index++;
             }
 #else
             can_client.send_can_message(
@@ -373,7 +372,8 @@ class MMR920 {
                     .message_index = m.message_index,
                     .sensor = can::ids::SensorType::pressure,
                     .sensor_id = sensor_id,
-                    .sensor_data = mmr920::reading_to_fixed_point(pressure)});
+                    .sensor_data =
+                        mmr920::reading_to_fixed_point(response_pressure)});
 #endif
         }
     }