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Fixes in simulator interface

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Lorenz Meier
2015-12-01 12:32:22 +01:00
parent da190f31fe
commit 1e99b04d9c
1 changed files with 4 additions and 3 deletions
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src/modules/simulator/simulator_mavlink.cpp
+4 -3
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@@ -500,7 +500,7 @@ void Simulator::pollForMAVLinkMessages(bool publish)
PX4_INFO("Waiting for initial data on UDP. Please start the flight simulator to proceed..");
while (pret <= 0) {
pret = ::poll(&fds[0], (sizeof(fds[0]) / sizeof(fds[0])), 100);
pret = ::poll(&fds[0], fd_count, 100);
}
PX4_INFO("Found initial message, pret = %d", pret);
@@ -537,6 +537,7 @@ void Simulator::pollForMAVLinkMessages(bool publish)
//timed out
if (pret == 0) {
PX4_WARN("mavlink sim timeout for 100 ms");
continue;
}
@@ -556,7 +557,7 @@ void Simulator::pollForMAVLinkMessages(bool publish)
mavlink_message_t msg;
mavlink_status_t status;
for (int i = 0; i < len; ++i) {
for (int i = 0; i < len; i++) {
if (mavlink_parse_char(MAVLINK_COMM_0, _buf[i], &msg, &status)) {
// have a message, handle it
handle_message(&msg, publish);
@@ -566,7 +567,7 @@ void Simulator::pollForMAVLinkMessages(bool publish)
}
// got data from PIXHAWK
if (fds[1].revents & POLLIN) {
if (fd_count > 1 && fds[1].revents & POLLIN) {
len = ::read(serial_fd, serial_buf, sizeof(serial_buf));
if (len > 0) {