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sensors: Keep looping in sensors app even if gyros do not update any more. There are lots of other reasons we might want to keep clocking the system. This resolves the RC timeout dependency in HIL.

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Lorenz Meier
2014-04-22 01:25:25 +02:00
parent 1196fb03c7
commit ca77c380b5
1 changed files with 5 additions and 7 deletions
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src/modules/sensors/sensors.cpp
+5 -7
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@@ -1254,7 +1254,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
}
_last_adc = t;
if (_battery_status.voltage_v > 0.0f) {
if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) {
/* announce the battery status if needed, just publish else */
if (_battery_pub > 0) {
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
@@ -1571,12 +1571,10 @@ Sensors::task_main()
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* wait for up to 50ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0)
continue;
/* if pret == 0 it timed out - periodic check for _task_should_exit, etc. */
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
@@ -1615,7 +1613,7 @@ Sensors::task_main()
perf_end(_loop_perf);
}
printf("[sensors] exiting.\n");
warnx("[sensors] exiting.");
_sensors_task = -1;
_exit(0);