From 8ccd8fbed13757438fa9d64166899f4a0e907550 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 27 Jun 2022 13:23:22 -0400 Subject: [PATCH] px4io: minimal backup scheduling regardless of dynamic mixing - even if there's no configured output we still need to run to grab RC data --- src/drivers/px4io/px4io.cpp | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 0faec57d2b..0319a2dada 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -531,11 +531,6 @@ void PX4IO::Run() perf_begin(_cycle_perf); perf_count(_interval_perf); - // schedule minimal update rate if there are no actuator controls - if (!_mixing_output.useDynamicMixing()) { - ScheduleDelayed(20_ms); - } - /* if we have new control data from the ORB, handle it */ if (_param_sys_hitl.get() <= 0) { _mixing_output.update(); @@ -654,6 +649,9 @@ void PX4IO::Run() _mixing_output.updateSubscriptions(true, true); + // minimal backup scheduling + ScheduleDelayed(20_ms); + perf_end(_cycle_perf); }