diff options
| -rw-r--r-- | apps/sensors/sensors.cpp | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 98b476814..b63ad19cc 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -285,7 +285,7 @@ private: /** * Check for changes in parameters. */ - void parameter_update_poll(); + void parameter_update_poll(bool forced = false); /** * Poll the ADC and update readings to suit. @@ -735,12 +735,12 @@ Sensors::vehicle_status_poll() } void -Sensors::parameter_update_poll() +Sensors::parameter_update_poll(bool forced) { bool param_updated; /* Check if any parameter has changed */ orb_check(_params_sub, ¶m_updated); - if (param_updated) + if (param_updated || forced) { /* read from param to clear updated flag */ struct parameter_update_s update; @@ -969,6 +969,8 @@ Sensors::task_main() mag_poll(raw); baro_poll(raw); + parameter_update_poll(true /* forced */); + /* advertise the sensor_combined topic and make the initial publication */ _sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw); |