fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

ManualControl: avoid scheduling based on unchosen input

Browse Source
This commit is contained in:
Matthias Grob 2021-10-29 09:11:32 +02:00
parent 48869ed03e
commit 2b29df06fd
2 changed files with 13 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
src/modules/manual_control/ManualControl.cpp
View File

@ -226,8 +226,18 @@ void ManualControl::Run()
// If it's valid, this should really be valid but better safe than sorry.
const int instance = _selector.instance();
if (instance >= 0 && instance < MAX_MANUAL_INPUT_COUNT) {
_manual_control_input_subs[instance].registerCallback();
// Attach scheduling to new samples of the chosen input
if (instance != _previous_manual_control_input_instance) {
if ((0 <= _previous_manual_control_input_instance)
&& (_previous_manual_control_input_instance < MAX_MANUAL_INPUT_COUNT)) {
_manual_control_input_subs[_previous_manual_control_input_instance].unregisterCallback();
}
if ((0 <= instance) && (instance < MAX_MANUAL_INPUT_COUNT)) {
_manual_control_input_subs[instance].registerCallback();
}
_previous_manual_control_input_instance = instance;
}
_manual_control_switches_sub.registerCallback();

1
src/modules/manual_control/ManualControl.hpp
View File

@ -131,6 +131,7 @@ private:
uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
int _previous_manual_control_input_instance{-1};
uORB::SubscriptionCallbackWorkItem _manual_control_input_subs[MAX_MANUAL_INPUT_COUNT] {
{this, ORB_ID(manual_control_input), 0},
{this, ORB_ID(manual_control_input), 1},