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AP_Baro: read data from BMP581 twice, reject if not identical #32171

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Merged
peterbarker merged 2 commits into from
Apr 13, 2026
+14 −0
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AP_Baro: read data from BMP581 twice, reject if not identical #32171

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556e149
AP_Baro: read data from BMP581 twice, reject if not identical
peterbarker Feb 11, 2026
201807d
hwdef: add BMP581 as Barometer option on Pixhawk6X
peterbarker Mar 6, 2026
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10 changes: 10 additions & 0 deletions libraries/AP_Baro/AP_Baro_BMP581.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -146,10 +146,20 @@ bool AP_Baro_BMP581::init()
void AP_Baro_BMP581::timer(void)
{
uint8_t buf[6];
uint8_t buf2[6];

// read twice, make sure results are consistent; corruption has
// been seen from data on this sensor
if (!_dev->read_registers(BMP581_REG_TEMP_DATA_XLSB, buf, sizeof(buf))) {
return;
}
if (!_dev->read_registers(BMP581_REG_TEMP_DATA_XLSB, buf2, sizeof(buf2))) {
return;
}
if (memcmp(buf, buf2, ARRAY_SIZE(buf)) != 0) {
// we didn't get the same data twice. Reject.
return;
}

WITH_SEMAPHORE(_sem);

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4 changes: 4 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
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Expand Up @@ -285,6 +285,10 @@ PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
BARO BMP388 I2C:2:0x76
BARO BMP388 I2C:0:0x77

# barometers (Holybro 6X more recent versions)
BARO BMP581 I2C:2:0x46
BARO BMP581 I2C:0:0x46

# barometers (CUAV 6X)
BARO ICP201XX I2C:0:0x64
BARO ICP201XX I2C:2:0x63
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