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Navigator: Only indicate timeout if we really time out

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Lorenz Meier
2015-11-22 14:01:52 +01:00
parent 4c60f4d98a
commit 4fa0123652
1 changed files with 7 additions and 1 deletions
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src/modules/navigator/navigator_main.cpp
+7 -1
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@@ -314,6 +314,8 @@ Navigator::task_main()
fds[0].fd = _global_pos_sub; fds[0].fd = _global_pos_sub;
fds[0].events = POLLIN; fds[0].events = POLLIN;
bool global_pos_available_once = false;
while (!_task_should_exit) { while (!_task_should_exit) {
/* wait for up to 200ms for data */ /* wait for up to 200ms for data */
@@ -321,7 +323,9 @@ Navigator::task_main()
if (pret == 0) { if (pret == 0) {
/* timed out - periodic check for _task_should_exit, etc. */ /* timed out - periodic check for _task_should_exit, etc. */
PX4_WARN("navigator timed out"); if (global_pos_available_once) {
PX4_WARN("navigator timed out");
}
continue; continue;
} else if (pret < 0) { } else if (pret < 0) {
@@ -330,6 +334,8 @@ Navigator::task_main()
continue; continue;
} }
global_pos_available_once = true;
perf_begin(_loop_perf); perf_begin(_loop_perf);
if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) { if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) {