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Merge branch 'fixedwing_outdoor' of https://github.com/julianoes/Firmware into fixedwing_outdoor

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Lorenz Meier
2012-12-27 17:13:52 +01:00
parent b2068b4e0e d4edf2e85c
commit a6f2c6022e
6 changed files with 69 additions and 49 deletions
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apps/commander/commander.c
+4 -3
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@@ -1356,6 +1356,8 @@ int commander_thread_main(int argc, char *argv[])
uint64_t failsave_ll_start_time = 0;
bool state_changed = true;
bool param_init_forced = true;
while (!thread_should_exit) {
@@ -1386,10 +1388,10 @@ int commander_thread_main(int argc, char *argv[])
/* handle it */
handle_command(stat_pub, &current_status, &cmd);
}
/* update parameters */
orb_check(param_changed_sub, &new_data);
if (new_data) {
if (new_data || param_init_forced) {
param_init_forced = false;
/* parameters changed */
orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
@@ -1398,7 +1400,6 @@ int commander_thread_main(int argc, char *argv[])
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
warnx("failed setting new system type");
}
/* disable manual override for all systems that rely on electronic stabilization */
if (current_status.system_type == MAV_TYPE_QUADROTOR ||
current_status.system_type == MAV_TYPE_HEXAROTOR ||