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Close fds when not needed

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File descriptors get closed when not needed by offboard mode
to allow position and attitude controllers to advertise and publish.
This commit is contained in:
t0ni0
2014-06-05 04:03:40 -04:00
parent af56879fdd
commit 2a79a9a4e4
3 changed files with 53 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+7 -1
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@@ -734,10 +734,16 @@ MulticopterPositionControl::task_main()
if (_local_pos_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp);
} else {
} else if (!_control_mode.flag_control_offboard_enabled) {
_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp);
}
/* Close fd to let offboard pos sp be advertised in mavlink receiver*/
if (_control_mode.flag_control_offboard_enabled && _local_pos_sp_pub > 0) {
close(_local_pos_sp_pub);
_local_pos_sp_pub = -1;
}
if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) {
/* idle state, don't run controller and set zero thrust */
R.identity();