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sensors: fix potential busy loop when a gyro driver is stopped

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When a gyro driver is stopped, the topic is unadvertised and
orb_group_count() returns a smaller count. This can have the effect, that
we poll on a certain gyro fd, but since _gyro.subscription_count is reduced
we never do the orb_copy for that fd.

This cannot happen when armed. And only someone playing with the shell
can trigger it (sensor failures do not have that effect).
This commit is contained in:
Beat Küng
2018-07-18 07:37:04 +02:00
committed by Lorenz Meier
parent 891a09f488
commit c166ea9ed5
1 changed files with 11 additions and 7 deletions
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src/modules/sensors/voted_sensors_update.cpp
+11 -7
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@@ -984,14 +984,15 @@ bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_n
void VotedSensorsUpdate::init_sensor_class(const struct orb_metadata *meta, SensorData &sensor_data,
uint8_t sensor_count_max)
{
unsigned group_count = orb_group_count(meta);
int max_sensor_index = -1;
if (group_count > sensor_count_max) {
PX4_WARN("Detected %u %s sensors, but will only use %u", group_count, meta->o_name, sensor_count_max);
group_count = sensor_count_max;
}
for (unsigned i = 0; i < sensor_count_max; i++) {
if (orb_exists(meta, i) != 0) {
continue;
}
max_sensor_index = i;
for (unsigned i = 0; i < group_count; i++) {
if (sensor_data.subscription[i] < 0) {
sensor_data.subscription[i] = orb_subscribe_multi(meta, i);
@@ -1004,7 +1005,10 @@ void VotedSensorsUpdate::init_sensor_class(const struct orb_metadata *meta, Sens
}
}
sensor_data.subscription_count = group_count;
// never decrease the sensor count, as we could end up with mismatching validators
if (max_sensor_index + 1 > sensor_data.subscription_count) {
sensor_data.subscription_count = max_sensor_index + 1;
}
}
void VotedSensorsUpdate::print_status()