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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-11-27 23:04:49 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-11-27 23:04:49 +0400 |
| commit | 3c027a8e4d5e5e484a37f1026b6fa7835176426f (patch) | |
| tree | e861192f9833d03baae859a582677ffe7b19d523 /src/modules/position_estimator_inav | |
| parent | f1fece2bb6fe4d40128f3f17b92c073d50cce982 (diff) | |
| download | px4-firmware-3c027a8e4d5e5e484a37f1026b6fa7835176426f.tar.gz px4-firmware-3c027a8e4d5e5e484a37f1026b6fa7835176426f.tar.bz2 px4-firmware-3c027a8e4d5e5e484a37f1026b6fa7835176426f.zip | |
Various HIL-related fixes
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 11 |
1 files changed, 5 insertions, 6 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 10007bf96..3084b6d92 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -236,13 +236,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (ret < 0) { /* poll error */ - errx(1, "subscriptions poll error on init."); + mavlink_log_info(mavlink_fd, "[inav] poll error on init"); } else if (ret > 0) { if (fds_init[0].revents & POLLIN) { orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); - if (wait_baro && sensor.baro_counter > baro_counter) { + if (wait_baro && sensor.baro_counter != baro_counter) { baro_counter = sensor.baro_counter; /* mean calculation over several measurements */ @@ -320,8 +320,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (ret < 0) { /* poll error */ - warnx("subscriptions poll error."); - thread_should_exit = true; + mavlink_log_info(mavlink_fd, "[inav] poll error on init"); continue; } else if (ret > 0) { @@ -355,7 +354,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (fds[4].revents & POLLIN) { orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); - if (sensor.accelerometer_counter > accel_counter) { + if (sensor.accelerometer_counter != accel_counter) { if (att.R_valid) { /* correct accel bias, now only for Z */ sensor.accelerometer_m_s2[2] -= accel_bias[2]; @@ -381,7 +380,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) accel_updates++; } - if (sensor.baro_counter > baro_counter) { + if (sensor.baro_counter != baro_counter) { baro_corr = - sensor.baro_alt_meter - z_est[0]; baro_counter = sensor.baro_counter; baro_updates++; |