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navio_sysfs_pwm_out: Adressing comments of @bkueng

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(https://github.com/PX4/Firmware/pull/5704#pullrequestreview-6977559)
This commit is contained in:
mantelt
2016-11-03 12:37:41 +01:00
parent 10491884ca
commit 8b237d7cf3
1 changed files with 11 additions and 5 deletions
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src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp
+11 -5
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@@ -263,9 +263,12 @@ void subscribe()
if (_groups_required & (1 << i)) { if (_groups_required & (1 << i)) {
PX4_DEBUG("subscribe to actuator_controls_%d", i); PX4_DEBUG("subscribe to actuator_controls_%d", i);
_controls_subs[i] = orb_subscribe(_controls_topics[i]); _controls_subs[i] = orb_subscribe(_controls_topics[i]);
} else {
_controls_subs[i] = -1;
} }
if (_controls_subs[i] > 0) { if (_controls_subs[i] >= 0) {
_poll_fds[_poll_fds_num].fd = _controls_subs[i]; _poll_fds[_poll_fds_num].fd = _controls_subs[i];
_poll_fds[_poll_fds_num].events = POLLIN; _poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num++; _poll_fds_num++;
@@ -322,7 +325,7 @@ void task_main(int argc, char *argv[])
unsigned poll_id = 0; unsigned poll_id = 0;
for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_controls_subs[i] > 0) { if (_controls_subs[i] >= 0) {
if (_poll_fds[poll_id].revents & POLLIN) { if (_poll_fds[poll_id].revents & POLLIN) {
orb_copy(_controls_topics[i], _controls_subs[i], &_controls[i]); orb_copy(_controls_topics[i], _controls_subs[i], &_controls[i]);
} }
@@ -370,7 +373,6 @@ void task_main(int argc, char *argv[])
pwm, pwm,
&_pwm_limit); &_pwm_limit);
if (_armed.lockdown) { if (_armed.lockdown) {
send_outputs_pwm(disarmed_pwm); send_outputs_pwm(disarmed_pwm);
@@ -384,6 +386,10 @@ void task_main(int argc, char *argv[])
} else { } else {
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs); _outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
} }
} else {
PX4_ERR("Could not mix output! Exiting...");
_task_should_exit = true;
} }
bool updated; bool updated;
@@ -397,8 +403,8 @@ void task_main(int argc, char *argv[])
pwm_deinitialize(); pwm_deinitialize();
for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_controls_subs[i] > 0) { if (_controls_subs[i] >= 0) {
::close(_controls_subs[i]); orb_unsubscribe(_controls_subs[i]);
} }
} }