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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-05 13:24:21 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-05 13:24:21 +0200 |
| commit | aa785b0d2b339a8fcc730e11b63264b1ff8d146d (patch) | |
| tree | 31a90c976af06b5ced0e7f0f463a1de39cede658 /src/modules/commander/rc_calibration.cpp | |
| parent | 09db74da0a88908aa761940a3de8383c0c64d1e4 (diff) | |
| download | px4-firmware-aa785b0d2b339a8fcc730e11b63264b1ff8d146d.tar.gz px4-firmware-aa785b0d2b339a8fcc730e11b63264b1ff8d146d.tar.bz2 px4-firmware-aa785b0d2b339a8fcc730e11b63264b1ff8d146d.zip | |
Hotfix: Better error reporting, fixed sched param setup
Diffstat (limited to 'src/modules/commander/rc_calibration.cpp')
| -rw-r--r-- | src/modules/commander/rc_calibration.cpp | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp index 9fc1d6470..90ede499a 100644 --- a/src/modules/commander/rc_calibration.cpp +++ b/src/modules/commander/rc_calibration.cpp @@ -57,14 +57,16 @@ int do_rc_calibration(int mavlink_fd) { mavlink_log_info(mavlink_fd, "trim calibration starting"); - /* XXX fix this */ - // if (current_status.rc_signal) { - // mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); - // return; - // } - int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); struct manual_control_setpoint_s sp; + bool changed; + orb_check(sub_man, &changed); + + if (!changed) { + mavlink_log_critical(mavlink_fd, "no manual control, aborting"); + return ERROR; + } + orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); /* set parameters */ |