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navigator: mavlink reopening fixed

This commit is contained in:
Anton Babushkin 2013-12-31 13:10:35 +04:00
parent d35a169907
commit 2e6cd18615
1 changed files with 8 additions and 5 deletions
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13
src/modules/navigator/navigator_main.cpp
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@ -497,11 +497,14 @@ Navigator::task_main_trampoline(int argc, char *argv[])
void
Navigator::task_main()
{
/* inform about start */
warnx("Initializing..");
fflush(stdout);
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(_mavlink_fd, "[navigator] started");
_fence_valid = load_fence(GEOFENCE_MAX_VERTICES);
/*
@ -530,7 +533,7 @@ Navigator::task_main()
unsigned prevState = NAV_STATE_NONE;
bool pub_control_mode = true;
hrt_abstime mavlink_open_time = 0;
const hrt_abstime mavlink_open_period = 500000000;
const hrt_abstime mavlink_open_interval = 500000;
/* wakeup source(s) */
struct pollfd fds[7];
@ -569,9 +572,9 @@ Navigator::task_main()
perf_begin(_loop_perf);
if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time + mavlink_open_period) {
/* try to open the mavlink log device every once in a while */
mavlink_open_time = hrt_abstime();
if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) {
/* try to reopen the mavlink log device with specified interval */
mavlink_open_time = hrt_abstime() + mavlink_open_interval;
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}