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EKF2 don't poll parameter_update

This commit is contained in:
Daniel Agar 2017-07-09 12:14:18 -04:00 committed by Lorenz Meier
parent ddc4500753
commit cf87096b05
1 changed files with 11 additions and 12 deletions
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23
src/modules/ekf2/ekf2_main.cpp
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@ -464,11 +464,9 @@ void Ekf2::run()
int status_sub = orb_subscribe(ORB_ID(vehicle_status));
int sensor_selection_sub = orb_subscribe(ORB_ID(sensor_selection));
px4_pollfd_struct_t fds[2] = {};
px4_pollfd_struct_t fds[1] = {};
fds[0].fd = sensors_sub;
fds[0].events = POLLIN;
fds[1].fd = params_sub;
fds[1].events = POLLIN;
// initialise parameter cache
updateParams();
@ -490,6 +488,11 @@ void Ekf2::run()
while (!should_exit()) {
int ret = px4_poll(fds, sizeof(fds) / sizeof(fds[0]), 1000);
if (!(fds[0].revents & POLLIN)) {
// no new data
continue;
}
if (ret < 0) {
// Poll error, sleep and try again
usleep(10000);
@ -500,18 +503,14 @@ void Ekf2::run()
continue;
}
if (fds[1].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);
updateParams();
// fetch sensor data in next loop
continue;
} else if (!(fds[0].revents & POLLIN)) {
// no new data
continue;
}
bool gps_updated = false;