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fmu: fix init & use of _control_subs

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0 is a valid file descriptor, init (all) to -1 instead
This commit is contained in:
Beat Küng
2018-07-28 15:23:09 +02:00
committed by Lorenz Meier
parent 49fe19c20f
commit 3816145d59
1 changed files with 8 additions and 6 deletions
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src/drivers/px4fmu/fmu.cpp
+8 -6
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@@ -382,7 +382,6 @@ PX4FMU::PX4FMU(bool run_as_task) :
_mixers(nullptr),
_groups_required(0),
_groups_subscribed(0),
_control_subs{ -1},
_poll_fds_num(0),
raw_rc_count(0),
_failsafe_pwm{0},
@@ -410,6 +409,10 @@ PX4FMU::PX4FMU(bool run_as_task) :
_control_topics[2] = ORB_ID(actuator_controls_2);
_control_topics[3] = ORB_ID(actuator_controls_3);
for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; ++i) {
_control_subs[i] = -1;
}
memset(_controls, 0, sizeof(_controls));
memset(_poll_fds, 0, sizeof(_poll_fds));
@@ -445,9 +448,8 @@ PX4FMU::PX4FMU(bool run_as_task) :
PX4FMU::~PX4FMU()
{
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_control_subs[i] >= 0) {
orb_unsubscribe(_control_subs[i]);
_control_subs[i] = -1;
}
}
@@ -907,7 +909,7 @@ PX4FMU::subscribe()
_control_subs[i] = -1;
}
if (_control_subs[i] > 0) {
if (_control_subs[i] >= 0) {
_poll_fds[_poll_fds_num].fd = _control_subs[i];
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num++;
@@ -1244,7 +1246,7 @@ PX4FMU::cycle()
PX4_DEBUG("adjusted actuator update interval to %ums", update_rate_in_ms);
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_control_subs[i] >= 0) {
orb_set_interval(_control_subs[i], update_rate_in_ms);
}
}
@@ -1275,7 +1277,7 @@ PX4FMU::cycle()
unsigned poll_id = 0;
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_control_subs[i] >= 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
if (i == 0) {