forked from Archive/PX4-Autopilot
mc_att_control: Failover in case of gyroscope failure (#11516)
Problem description at: http://discuss.px4.io/t/multicopter-lock-if-primary-gyro-fails/9685
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@ -837,6 +837,8 @@ MulticopterAttitudeControl::run()
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while (!should_exit()) {
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// check if the selected gyro has updated first
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sensor_correction_poll();
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poll_fds.fd = _sensor_gyro_sub[_selected_gyro];
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/* wait for up to 100ms for data */
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@ -887,7 +889,6 @@ MulticopterAttitudeControl::run()
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vehicle_status_poll();
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vehicle_motor_limits_poll();
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battery_status_poll();
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sensor_correction_poll();
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sensor_bias_poll();
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vehicle_land_detected_poll();
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landing_gear_state_poll();
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