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lib/led: make sure to do an orb_copy on startup

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This commit is contained in:
Beat Küng
2017-02-24 10:25:54 +01:00
committed by Lorenz Meier
parent b7f5d92b21
commit 9e09f70f37
2 changed files with 11 additions and 6 deletions
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src/lib/led/led.cpp
+10 -6
View File
@@ -51,18 +51,22 @@ int LedController::update(LedControlData &control_data)
orb_check(_led_control_sub, &updated);
while (updated) {
while (updated || _force_update) {
// handle new state
led_control_s led_control;
orb_copy(ORB_ID(led_control), _led_control_sub, &led_control);
// don't apply the new state just yet to avoid interrupting an ongoing blinking state
for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
if (led_control.led_mask & (1 << i)) {
_states[i].next_state.set(led_control);
if (orb_copy(ORB_ID(led_control), _led_control_sub, &led_control) == 0) {
// don't apply the new state just yet to avoid interrupting an ongoing blinking state
for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
if (led_control.led_mask & (1 << i)) {
_states[i].next_state.set(led_control);
}
}
}
_force_update = false;
orb_check(_led_control_sub, &updated);
}
src/lib/led/led.h
+1
View File
@@ -143,5 +143,6 @@ private:
int _led_control_sub = -1; ///< uorb subscription
hrt_abstime _last_update_call;
bool _force_update = true; ///< force an orb_copy in the beginning
};