From b818b07df36f7f952ffc04bac427c0f2f565b574 Mon Sep 17 00:00:00 2001
From: mtm-oss <47859285+mtm-oss@users.noreply.github.com>
Date: Fri, 22 Feb 2019 12:51:40 -0500
Subject: [PATCH] mc_att_control: Failover in case of gyroscope failure
 (#11516)

Problem description at: http://discuss.px4.io/t/multicopter-lock-if-primary-gyro-fails/9685
---
 src/modules/mc_att_control/mc_att_control_main.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index ea834c04d5..692aa8ee1c 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -837,6 +837,8 @@ MulticopterAttitudeControl::run()
 
 	while (!should_exit()) {
 
+		// check if the selected gyro has updated first
+		sensor_correction_poll();
 		poll_fds.fd = _sensor_gyro_sub[_selected_gyro];
 
 		/* wait for up to 100ms for data */
@@ -887,7 +889,6 @@ MulticopterAttitudeControl::run()
 			vehicle_status_poll();
 			vehicle_motor_limits_poll();
 			battery_status_poll();
-			sensor_correction_poll();
 			sensor_bias_poll();
 			vehicle_land_detected_poll();
 			landing_gear_state_poll();