fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-04 02:51:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

calibration_routines: fix 'Command denied during calibration' error message

Browse Source 
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 15:06:58 +02:00
committed by Lorenz Meier
parent 1fac3a1cee
commit d1343b0ccb
1 changed files with 10 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/calibration_routines.cpp
+10 -1
View File
@@ -799,7 +799,16 @@ calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,
int calibrate_cancel_subscribe() 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) void calibrate_cancel_unsubscribe(int cmd_sub)