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vtol_att update poll fd before poll call

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This commit is contained in:
Daniel Agar
2018-03-01 11:48:44 -05:00
committed by Lorenz Meier
parent 1ef7b351be
commit 3b0b5645e1
1 changed files with 13 additions and 13 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+13 -13
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@@ -596,6 +596,19 @@ void VtolAttitudeControl::task_main()
parameters_update();
}
// run vtol_att on MC actuator publications, unless in full FW mode
switch (_vtol_type->get_mode()) {
case TRANSITION_TO_FW:
case TRANSITION_TO_MC:
case ROTARY_WING:
fds[0].fd = _actuator_inputs_mc;
break;
case FIXED_WING:
fds[0].fd = _actuator_inputs_fw;
break;
}
/* wait for up to 100ms for data */
int pret = px4_poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 100);
@@ -612,19 +625,6 @@ void VtolAttitudeControl::task_main()
continue;
}
// run vtol_att on MC actuator publications, unless in full FW mode
switch (_vtol_type->get_mode()) {
case TRANSITION_TO_FW:
case TRANSITION_TO_MC:
case ROTARY_WING:
fds[0].fd = _actuator_inputs_mc;
break;
case FIXED_WING:
fds[0].fd = _actuator_inputs_fw;
break;
}
vehicle_control_mode_poll();
vehicle_manual_poll();
vehicle_attitude_poll();