send the pressure sensor response with the baseline applied

Opentrons · Jun 3, 2024 · 205376c · 205376c
1 parent 8738ed7
commit 205376c
Showing 1 changed file with 13 additions and 11 deletions.
diff --git a/include/sensors/core/tasks/pressure_driver.hpp b/include/sensors/core/tasks/pressure_driver.hpp
@@ -364,21 +364,23 @@ class MMR920 {
         }
 
         if (echo_this_time) {
+            auto response_pressure =
+                std::fabs(pressure) -
+                std::fabs(current_pressure_baseline_pa)
 #ifdef USE_PRESSURE_MOVE
-            // send a response with 9999 to make an overload of the buffer
-            // visible
-            if (pressure_buffer_index < PRESSURE_SENSOR_BUFFER_SIZE) {
-                (*p_buff).at(pressure_buffer_index) = pressure;
+                    if (pressure_buffer_index < PRESSURE_SENSOR_BUFFER_SIZE) {
+                (*p_buff).at(pressure_buffer_index) = response_pressure;
                 pressure_buffer_index++;
             }
 #else
-            can_client.send_can_message(
-                can::ids::NodeId::host,
-                can::messages::ReadFromSensorResponse{
-                    .message_index = m.message_index,
-                    .sensor = can::ids::SensorType::pressure,
-                    .sensor_id = sensor_id,
-                    .sensor_data = mmr920::reading_to_fixed_point(pressure)});
+                    can_client.send_can_message(
+                        can::ids::NodeId::host,
+                        can::messages::ReadFromSensorResponse{
+                            .message_index = m.message_index,
+                            .sensor = can::ids::SensorType::pressure,
+                            .sensor_id = sensor_id,
+                            .sensor_data = mmr920::reading_to_fixed_point(
+                                response_pressure)});
 #endif
         }
     }