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calibration_routines: fix 'Command denied during calibration' error message

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The uorb subscribe logic got changed for queued topics with
https://github.com/PX4/Firmware/pull/9436, meaning an orb_subscribe will
return past messages as well now.

This lead to an error 'Command denied during calibration' for the previously
received calibration start command.
This commit is contained in:
Beat Küng 2018-06-18 11:40:55 +02:00 committed by Lorenz Meier
parent 1fac3a1cee
commit d1343b0ccb
1 changed files with 10 additions and 1 deletions
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11
src/modules/commander/calibration_routines.cpp
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@ -799,7 +799,16 @@ calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,
int calibrate_cancel_subscribe()
{
return orb_subscribe(ORB_ID(vehicle_command));
int vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
if (vehicle_command_sub >= 0) {
// make sure we won't read any old messages
struct vehicle_command_s cmd;
bool update;
while (orb_check(vehicle_command_sub, &update) == 0 && update) {
orb_copy(ORB_ID(vehicle_command), vehicle_command_sub, &cmd);
}
}
return vehicle_command_sub;
}
void calibrate_cancel_unsubscribe(int cmd_sub)