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vmount mavlink input: fix polling for position_setpoint_triplet

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The code was violating the rule 'every successfull poll must be followed
by an orb_copy'.
The result was a busy loop.
This commit is contained in:
Beat Küng
2017-08-16 19:52:30 +02:00
committed by Lorenz Meier
parent 25bbe76530
commit 236021cc01
1 changed files with 9 additions and 3 deletions
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src/drivers/vmount/input_mavlink.cpp
+9 -3
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@@ -150,9 +150,15 @@ int InputMavlinkROI::update_impl(unsigned int timeout_ms, ControlData **control_
}
// check whether the position setpoint got updated
if ((polls[1].revents & POLLIN) && _cur_roi_mode == vehicle_roi_s::VEHICLE_ROI_WPNEXT) {
_read_control_data_from_position_setpoint_sub();
*control_data = &_control_data;
if (polls[1].revents & POLLIN) {
if (_cur_roi_mode == vehicle_roi_s::VEHICLE_ROI_WPNEXT) {
_read_control_data_from_position_setpoint_sub();
*control_data = &_control_data;
} else { // must do an orb_copy() in *every* case
position_setpoint_triplet_s position_setpoint_triplet;
orb_copy(ORB_ID(position_setpoint_triplet), _position_setpoint_triplet_sub, &position_setpoint_triplet);
}
}
}