Merge branch 'master' of github.com:PX4/Firmware into new_state_machine

src/modules/sensors/sensors.cpp

@@ -139,14 +139,12 @@ public:
 private:
 	static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX;	/**< maximum number of r/c channels we handle */
 
-#if CONFIG_HRT_PPM
 	hrt_abstime	_ppm_last_valid;		/**< last time we got a valid ppm signal */
 
 	/**
 	 * Gather and publish PPM input data.
 	 */
 	void		ppm_poll();
-#endif
 
 	/* XXX should not be here - should be own driver */
 	int 		_fd_adc;			/**< ADC driver handle */
@@ -393,9 +391,7 @@ Sensors	*g_sensors;
 }
 
 Sensors::Sensors() :
-#ifdef CONFIG_HRT_PPM
 	_ppm_last_valid(0),
-#endif
 
 	_fd_adc(-1),
 	_last_adc(0),
@@ -1120,16 +1116,18 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 	}
 }
 
-#if CONFIG_HRT_PPM
 void
 Sensors::ppm_poll()
 {
 
 	/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
-	bool rc_updated;
-	orb_check(_rc_sub, &rc_updated);
+	struct pollfd fds[1];
+	fds[0].fd = _rc_sub;
+	fds[0].events = POLLIN;
+	/* check non-blocking for new data */
+	int poll_ret = poll(fds, 1, 0);
 
-	if (rc_updated) {
+	if (poll_ret > 0) {
 		struct rc_input_values	rc_input;
 
 		orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
@@ -1316,7 +1314,6 @@ Sensors::ppm_poll()
 	}
 
 }
-#endif
 
 void
 Sensors::task_main_trampoline(int argc, char *argv[])
@@ -1429,10 +1426,8 @@ Sensors::task_main()
 		if (_publishing)
 			orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
 
-#ifdef CONFIG_HRT_PPM
 		/* Look for new r/c input data */
 		ppm_poll();
-#endif
 
 		perf_end(_loop_perf);
 	}
@@ -1472,7 +1467,7 @@ int sensors_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (sensors::g_sensors != nullptr)
-			errx(1, "sensors task already running");
+			errx(0, "sensors task already running");
 
 		sensors::g_sensors = new Sensors;