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sensors: force parameter update if mag device id still isn't set

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This commit is contained in:
Daniel Agar 2020-10-21 12:48:58 -04:00
parent 8592fe2358
commit bdcccb1723
1 changed files with 5 additions and 0 deletions
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5
src/modules/sensors/voted_sensors_update.cpp
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@ -405,6 +405,11 @@ void VotedSensorsUpdate::magPoll(vehicle_magnetometer_s &magnetometer)
if (_mag.enabled[uorb_index] && _mag.subscription[uorb_index].update(&mag_report)) {
// force parameter update (loads calibration) if device id still isn't set
if (_mag_device_id[uorb_index] == 0) {
parametersUpdate();
}
// First publication with data
if (_mag.priority[uorb_index] == 0) {
_mag.priority[uorb_index] = _mag.subscription[uorb_index].get_priority();