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mc_att_control: copy sensor_correction topic once initially 

Signed-off-by: Roman <bapstroman@gmail.com>
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Roman 2018-11-12 15:07:45 +01:00 committed by Daniel Agar
parent 82aa24adfc
commit f13bbacd52
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1 changed files with 8 additions and 0 deletions
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8
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -613,6 +613,14 @@ MulticopterAttitudeControl::run()
} }
_sensor_correction_sub = orb_subscribe(ORB_ID(sensor_correction)); _sensor_correction_sub = orb_subscribe(ORB_ID(sensor_correction));
// sensor correction topic is not being published regularly and we might have missed the first update.
// so copy it once initially so that we have the latest data. In future this will not be needed anymore as the
// behavior of the orb_check function will change
if (_sensor_correction_sub > 0) {
orb_copy(ORB_ID(sensor_correction), _sensor_correction_sub, &_sensor_correction);
}
_sensor_bias_sub = orb_subscribe(ORB_ID(sensor_bias)); _sensor_bias_sub = orb_subscribe(ORB_ID(sensor_bias));
/* wakeup source: gyro data from sensor selected by the sensor app */ /* wakeup source: gyro data from sensor selected by the sensor app */