dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Made some space for FDs - needs proper fix, but will give hackers some relief

This commit is contained in:
Lorenz Meier 2014-10-24 08:53:10 +02:00
parent ff1184c517
commit 33dcb687e8
1 changed files with 19 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
src/modules/sdlog2/sdlog2.c
View File

@ -1038,7 +1038,6 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info));
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
@ -1057,9 +1056,6 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
}
subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status));
@ -1069,6 +1065,25 @@ int sdlog2_thread_main(int argc, char *argv[])
/* we need to rate-limit wind, as we do not need the full update rate */
orb_set_interval(subs.wind_sub, 90);
/* add new topics HERE */
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
}
if (_extended_logging) {
subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info));
}
/* close non-needed fd's */
/* close stdin */
close(0);
/* close stdout */
close(1);
thread_running = true;
/* initialize thread synchronization */