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FW attitude don't poll parameter_update

This commit is contained in:
Daniel Agar 2017-07-09 12:19:30 -04:00 committed by Lorenz Meier
parent efafc17b0c
commit 66f0912b9d
1 changed files with 9 additions and 8 deletions
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17
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -750,13 +750,11 @@ FixedwingAttitudeControl::task_main()
battery_status_poll();
/* wakeup source */
px4_pollfd_struct_t fds[2];
px4_pollfd_struct_t fds[1];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].fd = _ctrl_state_sub;
fds[0].events = POLLIN;
fds[1].fd = _ctrl_state_sub;
fds[1].events = POLLIN;
_task_running = true;
@ -773,16 +771,19 @@ FixedwingAttitudeControl::task_main()
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
PX4_WARN("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
bool params_updated = false;
orb_check(_params_sub, &params_updated);
if (params_updated) {
/* read from param to clear updated flag */
struct parameter_update_s update;
parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
@ -790,7 +791,7 @@ FixedwingAttitudeControl::task_main()
}
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
if (fds[0].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();