Fix overriding of converted temperature value

robotology · Nov 7, 2023 · 64b9880 · 64b9880
1 parent a3e68cb
commit 64b9880
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
@@ -4756,7 +4756,7 @@ bool embObjMotionControl::getTemperatureRaw(int m, double* val)
         *val = (double) status.mot_temperature ;
         if (_foc_based_info[m].temperatureSensorType != motor_temperature_sensor_none)
         {
-            _temperatureSensorsVector.at(m)->convertRawToTempCelsius(*val);
+            *val = _temperatureSensorsVector.at(m)->convertRawToTempCelsius(*val);
         }
     }
     else

diff --git a/src/libraries/icubmod/embObjMotionControl/eomcParser.h b/src/libraries/icubmod/embObjMotionControl/eomcParser.h
@@ -99,9 +99,9 @@ class TemperatureSensorPT100 : public ITemperatureSensor
 
     TemperatureSensorPT100()
     {
-        _r_1 = 4700.0;
-        _r_2 = 4700.0;
-        _r_3 = 100.0; 
+        _r_1 = 4700;
+        _r_2 = 4700;
+        _r_3 = 100; 
 
         _ptc_offset = 100.0;
         _ptc_gradient = 0.3851;
@@ -151,7 +151,7 @@ class TemperatureSensorPT100 : public ITemperatureSensor
         res = (tmp * (_r_1*_r_2 + _r_1*_r_3 + _ptc_offset*_r_2 + _ptc_offset*_r_3) / den) + ((_r_3*_r_1 - _r_2*_ptc_offset) / den);
 
 
-        yDebug("Converted temperature  to Celsius degree value:%f", temperature);
+        yDebug("Converted temperature  to Celsius degree value:%f", res);
         return res;
     }