From 2bf1eeb0031a3487c5c30ba498bd9eacccbdc30f Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 4 Mar 2024 12:59:46 -0500 Subject: [PATCH] sensors/vehicle_acceleration: sensor update loop limit iterations --- .../sensors/vehicle_acceleration/VehicleAcceleration.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp index 05373e0e22..938e926a61 100644 --- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp +++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp @@ -231,9 +231,12 @@ void VehicleAcceleration::Run() } // process all outstanding messages + int sensor_sub_updates = 0; sensor_accel_s sensor_data; - while (_sensor_sub.update(&sensor_data)) { + while ((sensor_sub_updates < sensor_accel_s::ORB_QUEUE_LENGTH) && _sensor_sub.update(&sensor_data)) { + sensor_sub_updates++; + const Vector3f accel_raw{sensor_data.x, sensor_data.y, sensor_data.z}; if (accel_raw.isAllFinite()) {