Move forward sonars 2cm more apart

[ros_wild_thumper.git] / scripts / sensor_board.py

diff --git a/scripts/sensor_board.py b/scripts/sensor_board.py
index bddfb580ead0291735485386e601d5ff99e76909..8efeb162532a2c99664bc913732b3d9f25415052 100755 (executable)
--- a/scripts/sensor_board.py
+++ b/scripts/sensor_board.py
@@ -11,7 +11,7 @@ from pyshared.humidity import *
 from wild_thumper.msg import Sensor
 
 # Board warming offset
-TEMP_ERROR = -2 # -5 # degree celsius
+TEMP_ERROR = -5 # degree celsius
 PRESSURE_ERROR = -4.5
 
 """
@@ -43,9 +43,13 @@ def get(addr=0x58):
        pressure_kpa = P = (pressure_v/5 + 0.04) / 0.004 + PRESSURE_ERROR # datasheet
 
        # fix temperature/humidity
-       temp_real = temp_mess + TEMP_ERROR 
-       humidity_abs = calc_humidity_abs(temp_mess, humidity_mess)
-       humidity_real = calc_humidity_rel(temp_real, humidity_abs)
+       if TEMP_ERROR:
+               temp_real = temp_mess + TEMP_ERROR
+               humidity_abs = calc_humidity_abs(temp_mess, humidity_mess)
+               humidity_real = calc_humidity_rel(temp_real, humidity_abs)
+       else:
+               temp_real = temp_mess
+               humidity_real = humidity_mess
 
        return lux, temp_real, humidity_real, pressure_kpa, co