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| author | Julian Oes <joes@student.ethz.ch> | 2012-12-23 17:20:53 -0800 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2012-12-23 17:20:53 -0800 |
| commit | d4edf2e85c4238387872eb5ee6bc1187117a280d (patch) | |
| tree | 97a42391481770a10718366e819a3b6e36fb1e1c /apps/commander/commander.c | |
| parent | 8053b4b9f78020ba569e37207800250348eba92b (diff) | |
| download | px4-firmware-d4edf2e85c4238387872eb5ee6bc1187117a280d.tar.gz px4-firmware-d4edf2e85c4238387872eb5ee6bc1187117a280d.tar.bz2 px4-firmware-d4edf2e85c4238387872eb5ee6bc1187117a280d.zip | |
Override is now really disabled for multirotors, also I don't think the parameter got ever read by the commander but I might be wrong
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 5dfdf83ad..bdf1976b7 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1293,6 +1293,8 @@ int commander_thread_main(int argc, char *argv[]) uint64_t failsave_ll_start_time = 0; bool state_changed = true; + bool param_init_forced = true; + while (!thread_should_exit) { @@ -1323,10 +1325,10 @@ int commander_thread_main(int argc, char *argv[]) /* handle it */ handle_command(stat_pub, ¤t_status, &cmd); } - /* update parameters */ orb_check(param_changed_sub, &new_data); - if (new_data) { + if (new_data || param_init_forced) { + param_init_forced = false; /* parameters changed */ orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); @@ -1335,7 +1337,6 @@ int commander_thread_main(int argc, char *argv[]) if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { warnx("failed setting new system type"); } - /* disable manual override for all systems that rely on electronic stabilization */ if (current_status.system_type == MAV_TYPE_QUADROTOR || current_status.system_type == MAV_TYPE_HEXAROTOR || |