forked from Archive/PX4-Autopilot
px4io: minimal backup scheduling regardless of dynamic mixing
- even if there's no configured output we still need to run to grab RC data
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@ -531,11 +531,6 @@ void PX4IO::Run()
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perf_begin(_cycle_perf);
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perf_count(_interval_perf);
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// schedule minimal update rate if there are no actuator controls
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if (!_mixing_output.useDynamicMixing()) {
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ScheduleDelayed(20_ms);
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}
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/* if we have new control data from the ORB, handle it */
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if (_param_sys_hitl.get() <= 0) {
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_mixing_output.update();
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@ -654,6 +649,9 @@ void PX4IO::Run()
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_mixing_output.updateSubscriptions(true, true);
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// minimal backup scheduling
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ScheduleDelayed(20_ms);
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perf_end(_cycle_perf);
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}
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