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authorLorenz Meier <lm@inf.ethz.ch>2014-04-22 01:40:45 +0200
committerLorenz Meier <lm@inf.ethz.ch>2014-04-22 01:40:45 +0200
commit3a4874b22ec469bb77c46b37c1fd204f083202d7 (patch)
treebac0b58a84b4d49744dfb2e252d343d1b61bcb1a /src/modules
parent42e9c84d50bcfe3298b0d88bb35a42acdc51d5a2 (diff)
parentca77c380b5ce9094d58b23ac73f3b0c1cec3d046 (diff)
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Merge branch 'sensors_loop' of github.com:PX4/Firmware into ekf_params
Diffstat (limited to 'src/modules')
-rw-r--r--src/modules/sensors/sensors.cpp12
1 files changed, 5 insertions, 7 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 4083b8b4f..67c725b1c 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1254,7 +1254,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
}
_last_adc = t;
- if (_battery_status.voltage_v > 0.0f) {
+ if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) {
/* announce the battery status if needed, just publish else */
if (_battery_pub > 0) {
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
@@ -1571,12 +1571,10 @@ Sensors::task_main()
while (!_task_should_exit) {
- /* wait for up to 100ms for data */
- int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+ /* wait for up to 50ms for data */
+ int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50);
- /* timed out - periodic check for _task_should_exit, etc. */
- if (pret == 0)
- continue;
+ /* if pret == 0 it timed out - periodic check for _task_should_exit, etc. */
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
@@ -1615,7 +1613,7 @@ Sensors::task_main()
perf_end(_loop_perf);
}
- printf("[sensors] exiting.\n");
+ warnx("[sensors] exiting.");
_sensors_task = -1;
_exit(0);