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fix(sensors): send the pressure sensor response with the baseline applied #783

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merged 5 commits into from
Jun 4, 2024
Merged

fix(sensors): send the pressure sensor response with the baseline applied #783

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205376c
send the pressure sensor response with the baseline applied
ryanthecoder Jun 3, 2024
269b592
aww dang missed a ;
ryanthecoder Jun 3, 2024
653afd1
format
ryanthecoder Jun 3, 2024
311d42f
keep signedness
ryanthecoder Jun 4, 2024
d29b0ce
calculate the baseline correctly
ryanthecoder Jun 4, 2024
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10 changes: 5 additions & 5 deletions include/sensors/core/tasks/pressure_driver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -355,7 +355,7 @@ 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 {
Expand All @@ -364,11 +364,10 @@ class MMR920 {
}

if (echo_this_time) {
auto response_pressure = pressure - current_pressure_baseline_pa;
#ifdef USE_PRESSURE_MOVE
// send a response with 9999 to make an overload of the buffer
// visible
if (pressure_buffer_index < PRESSURE_SENSOR_BUFFER_SIZE) {
(*p_buff).at(pressure_buffer_index) = pressure;
(*p_buff).at(pressure_buffer_index) = response_pressure;
pressure_buffer_index++;
}
#else
Expand All @@ -378,7 +377,8 @@ 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
}
}
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