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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-26 15:38:53 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-26 15:38:53 +0100 |
| commit | b66730b5a9011e349d25655f777dccf5803d90c8 (patch) | |
| tree | 8f12fd998856392291db2859e108be0454eb0f6a /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | d294953be701fc039443fb9ba87febd242c41811 (diff) | |
| download | px4-firmware-b66730b5a9011e349d25655f777dccf5803d90c8.tar.gz px4-firmware-b66730b5a9011e349d25655f777dccf5803d90c8.tar.bz2 px4-firmware-b66730b5a9011e349d25655f777dccf5803d90c8.zip | |
making sure the mavlink fd is open in fw pos ctrl
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 7da28cbfa..d12a1750a 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1173,6 +1173,11 @@ FixedwingPositionControl::task_main() /* only run controller if position changed */ if (fds[1].revents & POLLIN) { + /* XXX Hack to get mavlink output going */ + if (mavlink_fd < 0) { + /* try to open the mavlink log device every once in a while */ + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + } static uint64_t last_run = 0; float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; |