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VTOL Controller: Always read ready topics

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When poll returns a ready FD we have to read it, no matter which flight mode the system is in.
This commit is contained in:
Lorenz Meier
2017-07-02 21:52:18 +02:00
parent 1acf547e8b
commit f54a6c2999
1 changed files with 8 additions and 4 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+8 -4
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@@ -691,7 +691,6 @@ void VtolAttitudeControl::task_main()
/* wait for up to 100ms for data */ /* wait for up to 100ms for data */
int pret = px4_poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 100); int pret = px4_poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 100);
/* timed out - periodic check for _task_should_exit */ /* timed out - periodic check for _task_should_exit */
if (pret == 0) { if (pret == 0) {
continue; continue;
@@ -705,6 +704,14 @@ void VtolAttitudeControl::task_main()
continue; continue;
} }
if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);
}
if (fds[1].revents & POLLIN) {
orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw, &_actuators_fw_in);
}
if (fds[2].revents & POLLIN) { //parameters were updated, read them now if (fds[2].revents & POLLIN) { //parameters were updated, read them now
/* read from param to clear updated flag */ /* read from param to clear updated flag */
struct parameter_update_s update; struct parameter_update_s update;
@@ -762,8 +769,6 @@ void VtolAttitudeControl::task_main()
// got data from mc attitude controller // got data from mc attitude controller
if (fds[0].revents & POLLIN) { if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(actuator_controls_virtual_mc), _actuator_inputs_mc, &_actuators_mc_in);
_vtol_type->update_mc_state(); _vtol_type->update_mc_state();
fill_mc_att_rates_sp(); fill_mc_att_rates_sp();
@@ -776,7 +781,6 @@ void VtolAttitudeControl::task_main()
// got data from fw attitude controller // got data from fw attitude controller
if (fds[1].revents & POLLIN) { if (fds[1].revents & POLLIN) {
orb_copy(ORB_ID(actuator_controls_virtual_fw), _actuator_inputs_fw, &_actuators_fw_in);
vehicle_manual_poll(); vehicle_manual_poll();
_vtol_type->update_fw_state(); _vtol_type->update_fw_state();