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IO driver: auto update param

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Lorenz Meier
2015-05-25 16:42:47 +02:00
parent 2dd94b7f0f
commit d54b931554
2 changed files with 14 additions and 9 deletions
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src/drivers/px4io/px4io.cpp
+6 -1
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@@ -281,6 +281,7 @@ private:
int _t_actuator_armed; ///< system armed control topic
int _t_vehicle_control_mode;///< vehicle control mode topic
int _t_param; ///< parameter update topic
bool _param_update_force; ///< force a parameter update
int _t_vehicle_command; ///< vehicle command topic
/* advertised topics */
@@ -514,6 +515,7 @@ PX4IO::PX4IO(device::Device *interface) :
_t_actuator_armed(-1),
_t_vehicle_control_mode(-1),
_t_param(-1),
_param_update_force(false),
_t_vehicle_command(-1),
_to_input_rc(0),
_to_outputs(0),
@@ -917,6 +919,8 @@ PX4IO::task_main()
fds[0].fd = _t_actuator_controls_0;
fds[0].events = POLLIN;
_param_update_force = true;
/* lock against the ioctl handler */
lock();
@@ -1017,7 +1021,8 @@ PX4IO::task_main()
*/
orb_check(_t_param, &updated);
if (updated) {
if (updated || _param_update_force) {
_param_update_force = false;
parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);