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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-31 13:10:35 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-31 13:10:35 +0400 |
| commit | 2e6cd186155d20f53fc45ab2f014d7ebb339c66c (patch) | |
| tree | a7ab31801b2b355ed53b38ba99097ef8d1e472cb /src/modules/navigator/navigator_main.cpp | |
| parent | d35a1699078b6cb8a41d58bdbbd09164e5c0adf2 (diff) | |
| download | px4-firmware-2e6cd186155d20f53fc45ab2f014d7ebb339c66c.tar.gz px4-firmware-2e6cd186155d20f53fc45ab2f014d7ebb339c66c.tar.bz2 px4-firmware-2e6cd186155d20f53fc45ab2f014d7ebb339c66c.zip | |
navigator: mavlink reopening fixed
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 428887373..12f761b05 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -497,11 +497,14 @@ Navigator::task_main_trampoline(int argc, char *argv[]) void Navigator::task_main() { - /* inform about start */ warnx("Initializing.."); fflush(stdout); + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + mavlink_log_info(_mavlink_fd, "[navigator] started"); + _fence_valid = load_fence(GEOFENCE_MAX_VERTICES); /* @@ -530,7 +533,7 @@ Navigator::task_main() unsigned prevState = NAV_STATE_NONE; bool pub_control_mode = true; hrt_abstime mavlink_open_time = 0; - const hrt_abstime mavlink_open_period = 500000000; + const hrt_abstime mavlink_open_interval = 500000; /* wakeup source(s) */ struct pollfd fds[7]; @@ -569,9 +572,9 @@ Navigator::task_main() perf_begin(_loop_perf); - if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time + mavlink_open_period) { - /* try to open the mavlink log device every once in a while */ - mavlink_open_time = hrt_abstime(); + if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) { + /* try to reopen the mavlink log device with specified interval */ + mavlink_open_time = hrt_abstime() + mavlink_open_interval; _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); } |