This code is flyable, but a few problems exist which cause values in the .config files to be overwritten by the defaults in the .XML file.

src/modules/sensors/sensors.cpp

@@ -2231,7 +2231,18 @@ Sensors::task_main()
 
 		/* this is undesirable but not much we can do - might want to flag unhappy status */
 		if (pret < 0) {
-			warnx("poll error %d, %d", pret, errno);
+			warnx("poll error: pret: %d, errno: %d, gyro_sub: %d", pret, errno, fds[0].fd);
+
+			// TODO-JYW: TESTING-TESTING
+			/* if the polling operation failed because no gyro sensor is available yet,
+			 * then attempt to subscribe once again
+			 */
+			if (_gyro_count == 0) {
+				_gyro_count = init_sensor_class(ORB_ID(sensor_gyro), &_gyro_sub[0],
+						&raw.gyro_priority[0], &raw.gyro_errcount[0]);
+				fds[0].fd = _gyro_sub[0];
+				warnx("poll error: gyro count: %d, gyro sub: %d", _gyro_count, fds[0].fd);
+			}
 			continue;
 		}