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INAV: Robustify polling

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This commit is contained in:
Lorenz Meier
2015-11-22 14:01:52 +01:00
parent 4fa0123652
commit c81e9714c7
1 changed files with 7 additions and 4 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+7 -4
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@@ -390,9 +390,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* first parameters update */
inav_parameters_update(&pos_inav_param_handles, &params);
px4_pollfd_struct_t fds_init[1] = {
{ .fd = sensor_combined_sub, .events = POLLIN },
};
px4_pollfd_struct_t fds_init[1] = {};
fds_init[0].fd = sensor_combined_sub;
fds_init[0].events = POLLIN;
/* wait for initial baro value */
bool wait_baro = true;
@@ -400,11 +400,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
thread_running = true;
while (wait_baro && !thread_should_exit) {
int ret = px4_poll(fds_init, 1, 1000);
int ret = px4_poll(&fds_init[0], 1, 1000);
if (ret < 0) {
/* poll error */
mavlink_log_info(mavlink_fd, "[inav] poll error on init");
PX4_WARN("INAV poll error");
} else if (ret > 0) {
if (fds_init[0].revents & POLLIN) {
@@ -430,6 +431,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
}
}
} else {
PX4_WARN("INAV poll timeout");
}
}