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OptFlow_PX4: check healthy before updating

This commit is contained in:
Randy Mackay 2014-10-15 16:27:19 +09:00
parent f504ea7b30
commit a476a914b0
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp
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@ -54,6 +54,11 @@ void AP_OpticalFlow_PX4::init(void)
// update - read latest values from sensor and fill in x,y and totals. // update - read latest values from sensor and fill in x,y and totals.
void AP_OpticalFlow_PX4::update(void) void AP_OpticalFlow_PX4::update(void)
{ {
// return immediately if not healthy
if (!_flags.healthy) {
return;
}
struct optical_flow_s report; struct optical_flow_s report;
while (::read(_fd, &report, sizeof(optical_flow_s)) == sizeof(optical_flow_s) && report.timestamp != _last_timestamp) { while (::read(_fd, &report, sizeof(optical_flow_s)) == sizeof(optical_flow_s) && report.timestamp != _last_timestamp) {
_device_id = report.sensor_id; _device_id = report.sensor_id;