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EKF2: Fix polling code

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Lorenz Meier
2016-01-22 14:21:19 +01:00
parent f460e95554
commit 7452cfdf63
1 changed files with 5 additions and 3 deletions
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src/modules/ekf2/ekf2_main.cpp
+5 -3
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@@ -228,7 +228,6 @@ void Ekf2::task_main()
{ {
// subscribe to relevant topics // subscribe to relevant topics
_sensors_sub = orb_subscribe(ORB_ID(sensor_combined)); _sensors_sub = orb_subscribe(ORB_ID(sensor_combined));
_params_sub = orb_subscribe(ORB_ID(sensor_combined));
_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); _gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_params_sub = orb_subscribe(ORB_ID(parameter_update)); _params_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -243,14 +242,14 @@ void Ekf2::task_main()
updateParams(); updateParams();
while (!_task_should_exit) { while (!_task_should_exit) {
int ret = px4_poll(fds, sizeof(fds) / sizeof(fds[0]), 8); int ret = px4_poll(fds, sizeof(fds) / sizeof(fds[0]), 1000);
if (ret < 0) { if (ret < 0) {
// Poll error, sleep and try again // Poll error, sleep and try again
usleep(10000); usleep(10000);
continue; continue;
} else if (ret == 0 || fds[0].revents != POLLIN) { } else if (ret == 0) {
// Poll timeout or no new data, do nothing // Poll timeout or no new data, do nothing
continue; continue;
} }
@@ -263,6 +262,9 @@ void Ekf2::task_main()
// fetch sensor data in next loop // fetch sensor data in next loop
continue; continue;
} else if (!(fds[0].revents & POLLIN)) {
// no new data
continue;
} }
bool gps_updated = false; bool gps_updated = false;