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mc_att_control: Failover in case of gyroscope failure (#11516)

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Problem description at: http://discuss.px4.io/t/multicopter-lock-if-primary-gyro-fails/9685
This commit is contained in:
mtm-oss
2019-02-22 12:51:40 -05:00
committed by Daniel Agar
parent 4e792b2487
commit b818b07df3
1 changed files with 2 additions and 1 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+2 -1
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@@ -837,6 +837,8 @@ MulticopterAttitudeControl::run()
while (!should_exit()) { while (!should_exit()) {
// check if the selected gyro has updated first
sensor_correction_poll();
poll_fds.fd = _sensor_gyro_sub[_selected_gyro]; poll_fds.fd = _sensor_gyro_sub[_selected_gyro];
/* wait for up to 100ms for data */ /* wait for up to 100ms for data */
@@ -887,7 +889,6 @@ MulticopterAttitudeControl::run()
vehicle_status_poll(); vehicle_status_poll();
vehicle_motor_limits_poll(); vehicle_motor_limits_poll();
battery_status_poll(); battery_status_poll();
sensor_correction_poll();
sensor_bias_poll(); sensor_bias_poll();
vehicle_land_detected_poll(); vehicle_land_detected_poll();
landing_gear_state_poll(); landing_gear_state_poll();