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ADIS16470: Publish data only when there are no failures #853

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merged 1 commit into from
Dec 20, 2024
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ADIS16470: Publish data only when there are no failures #853

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32 changes: 23 additions & 9 deletions src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -234,6 +234,14 @@ void ADIS16470::RunImpl()
ScheduleDelayed(SAMPLE_INTERVAL_US * 2);
}

int16_t accel_x;
int16_t accel_y;
int16_t accel_z;

int16_t gyro_x;
int16_t gyro_y;
int16_t gyro_z;

bool success = false;

struct BurstRead {
Expand Down Expand Up @@ -302,26 +310,23 @@ void ADIS16470::RunImpl()
_px4_gyro.set_temperature(temperature);


int16_t accel_x = buffer.X_ACCL_OUT;
int16_t accel_y = buffer.Y_ACCL_OUT;
int16_t accel_z = buffer.Z_ACCL_OUT;
accel_x = buffer.X_ACCL_OUT;
accel_y = buffer.Y_ACCL_OUT;
accel_z = buffer.Z_ACCL_OUT;

// sensor's frame is +x forward, +y left, +z up
// flip y & z to publish right handed with z down (x forward, y right, z down)
accel_y = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
accel_z = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;

_px4_accel.update(timestamp_sample, accel_x, accel_y, accel_z);

gyro_x = buffer.X_GYRO_OUT;
gyro_y = buffer.Y_GYRO_OUT;
gyro_z = buffer.Z_GYRO_OUT;

int16_t gyro_x = buffer.X_GYRO_OUT;
int16_t gyro_y = buffer.Y_GYRO_OUT;
int16_t gyro_z = buffer.Z_GYRO_OUT;
// sensor's frame is +x forward, +y left, +z up
// flip y & z to publish right handed with z down (x forward, y right, z down)
gyro_y = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
gyro_z = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
_px4_gyro.update(timestamp_sample, gyro_x, gyro_y, gyro_z);

success = true;

Expand Down Expand Up @@ -353,7 +358,16 @@ void ADIS16470::RunImpl()
// register check failed, force reset
perf_count(_bad_register_perf);
Reset();
return;
}

}

if (success) {
// Publish data if there was no errors

_px4_accel.update(timestamp_sample, accel_x, accel_y, accel_z);
_px4_gyro.update(timestamp_sample, gyro_x, gyro_y, gyro_z);
}
}

Expand Down
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