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FW stabalized mode properly initialize att_sp

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Daniel Agar
2016-04-23 15:50:43 +02:00
committed by Lorenz Meier
parent f3ec95c3b2
commit 41c1e56075
2 changed files with 13 additions and 3 deletions
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src/modules/sensors/sensors.cpp
+8 -2
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@@ -2203,11 +2203,17 @@ Sensors::task_main()
/* If the secondary failed as well, go to the tertiary, also only if available. */
if (hrt_elapsed_time(&raw.gyro_timestamp[1]) > 20 * 1000 && _gyro_sub[2] >= 0) {
fds[0].fd = _gyro_sub[2];
warnx("failing over to third gyro");
if (!_hil_enabled) {
warnx("failing over to third gyro");
}
} else if (_gyro_sub[1] >= 0) {
fds[0].fd = _gyro_sub[1];
warnx("failing over to second gyro");
if (!_hil_enabled) {
warnx("failing over to second gyro");
}
}
}