Fix bug in imet resistance model

oubliss · Jul 28, 2020 · 2bc433e · 2bc433e
1 parent cec38bc
commit 2bc433e
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
@@ -234,15 +234,16 @@ void Copter::send_cass_imet(mavlink_channel_t chan) {
  if(!HAVE_PAYLOAD_SPACE(chan, CASS_SENSOR_RAW)){
  return;
  }
- for(uint8_t i=0; i<4; i++){
- raw_sensor[i] = copter.CASS_Imet[i].resistance();
- }
  #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
- // Variables simulation for IMET resistance measurements
+  // Variables simulation for IMET resistance measurements
  for(uint8_t i=0; i<4; i++){
  raw_sensor[i] = -356.9892f*raw_sensor[i] + 110935.3763f;
  }
  //printf("HYT271 temp: %5.2f \n",raw_sensor[0]); 
+ #else
+ for(uint8_t i=0; i<4; i++){
+ raw_sensor[i] = copter.CASS_Imet[i].resistance();
+ }
  #endif
  // Call Mavlink function and send CASS data
  mavlink_msg_cass_sensor_raw_send(