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use correct syntax for polling

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tumbili
2015-09-01 09:33:15 +02:00
parent 4c03c5137e
commit b4839731ad
2 changed files with 6 additions and 7 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+4 -5
View File
@@ -648,8 +648,8 @@ FixedwingAttitudeControl::task_main()
vehicle_manual_poll();
vehicle_status_poll();
/* wakeup source(s) */
struct pollfd fds[2];
/* wakeup source */
px4_pollfd_struct_t fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
@@ -660,11 +660,10 @@ FixedwingAttitudeControl::task_main()
_task_running = true;
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
@@ -691,7 +690,6 @@ FixedwingAttitudeControl::task_main()
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
@@ -703,6 +701,7 @@ FixedwingAttitudeControl::task_main()
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
if (_vehicle_status.is_vtol && _parameters.vtol_type == 0) {
/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
*
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+2 -2
View File
@@ -1719,7 +1719,7 @@ FixedwingPositionControl::task_main()
}
/* wakeup source(s) */
struct pollfd fds[2];
px4_pollfd_struct_t fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
@@ -1732,7 +1732,7 @@ FixedwingPositionControl::task_main()
while (!_task_should_exit) {
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {