From 111321082ff1153071c41db4aea20e17700f579a Mon Sep 17 00:00:00 2001
From: Florian Achermann <florian.achermann@mavt.ethz.ch>
Date: Wed, 2 Jun 2021 12:48:56 +0200
Subject: [PATCH] Add hall_poll to the main loop in the sensors module

---
 src/modules/sensors/sensors.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 259d062b0f..7b782ca416 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -338,6 +338,10 @@ Sensors::~Sensors()
 		sub.unregisterCallback();
 	}
 
+  for (auto &sub : _sensor_hall_subs) {
+    sub.unregisterCallback();
+  }
+
 	_vehicle_acceleration.Stop();
 	_vehicle_angular_velocity.Stop();
 
@@ -815,6 +819,7 @@ void Sensors::Run()
 	adc_poll();
 
 	diff_pres_poll();
+	hall_poll();
 
 	if (_sensor_combined.timestamp != _sensor_combined_prev_timestamp) {