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FW position don't poll parameter_update

This commit is contained in:
Daniel Agar 2017-07-09 12:17:00 -04:00 committed by Lorenz Meier
parent cf87096b05
commit efafc17b0c
1 changed files with 9 additions and 8 deletions
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17
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -1512,13 +1512,11 @@ FixedwingPositionControl::task_main()
}
/* wakeup source(s) */
px4_pollfd_struct_t fds[2];
px4_pollfd_struct_t fds[1];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].fd = _global_pos_sub;
fds[0].events = POLLIN;
fds[1].fd = _global_pos_sub;
fds[1].events = POLLIN;
_task_running = true;
@ -1534,7 +1532,7 @@ FixedwingPositionControl::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;
}
@ -1544,9 +1542,12 @@ FixedwingPositionControl::task_main()
vehicle_status_poll();
/* only update parameters if they changed */
if ((fds[0].revents & POLLIN) != 0) {
bool params_updated = false;
orb_check(_params_sub, &params_updated);
if (params_updated) {
/* read from param to clear updated flag */
parameter_update_s update {};
parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
@ -1554,7 +1555,7 @@ FixedwingPositionControl::task_main()
}
/* only run controller if position changed */
if ((fds[1].revents & POLLIN) != 0) {
if ((fds[0].revents & POLLIN) != 0) {
perf_begin(_loop_perf);
/* load local copies */