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Sensors: added missing px4_close and removed _exit() call 

The QuRT build was broken from the call to exit. While fixing
the code to clean up before returning, I found a missed call
to px4_close.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-05-21 10:26:45 -07:00
parent f24d807b66
commit 0c3681c896
1 changed files with 13 additions and 9 deletions
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22
src/modules/sensors/sensors.cpp
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@ -922,16 +922,16 @@ Sensors::gyro_init()
warnx("FATAL: no gyro found: %s", GYRO0_DEVICE_PATH); warnx("FATAL: no gyro found: %s", GYRO0_DEVICE_PATH);
return ERROR; return ERROR;
} else {
/* set the gyro internal sampling rate to default rate */
px4_ioctl(fd, GYROIOCSSAMPLERATE, GYRO_SAMPLERATE_DEFAULT);
/* set the driver to poll at default rate */
px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
} }
/* set the gyro internal sampling rate to default rate */
px4_ioctl(fd, GYROIOCSSAMPLERATE, GYRO_SAMPLERATE_DEFAULT);
/* set the driver to poll at default rate */
px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
px4_close(fd);
return OK; return OK;
} }
@ -2086,8 +2086,12 @@ Sensors::task_main()
} while (0); } while (0);
if (ret) { if (ret) {
warnx("Sensor initialization failed");
_sensors_task = -1; _sensors_task = -1;
_exit(ret); if (_fd_adc >=0) {
close(_fd_adc);
_fd_adc = -1;
}
return; return;
} }