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Abort the px4io worker task if subscribing to the required ORB topics fails.

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px4dev
2013-07-06 00:00:10 -07:00
parent a4b0e3ecbe
commit 0589346ce6
1 changed files with 9 additions and 0 deletions
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src/drivers/px4io/px4io.cpp
+9
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@@ -572,6 +572,14 @@ PX4IO::task_main()
_t_param = orb_subscribe(ORB_ID(parameter_update)); _t_param = orb_subscribe(ORB_ID(parameter_update));
orb_set_interval(_t_param, 500); /* 2Hz update rate max. */ orb_set_interval(_t_param, 500); /* 2Hz update rate max. */
if ((_t_actuators < 0) ||
(_t_armed < 0) ||
(_t_vstatus < 0) ||
(_t_param < 0)) {
log("subscription(s) failed");
goto out;
}
/* poll descriptor */ /* poll descriptor */
pollfd fds[4]; pollfd fds[4];
fds[0].fd = _t_actuators; fds[0].fd = _t_actuators;
@@ -668,6 +676,7 @@ PX4IO::task_main()
unlock(); unlock();
out:
debug("exiting"); debug("exiting");
/* clean up the alternate device node */ /* clean up the alternate device node */