diff options
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 5dfdf83ad..bdf1976b7 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1293,6 +1293,8 @@ int commander_thread_main(int argc, char *argv[]) uint64_t failsave_ll_start_time = 0; bool state_changed = true; + bool param_init_forced = true; + while (!thread_should_exit) { @@ -1323,10 +1325,10 @@ int commander_thread_main(int argc, char *argv[]) /* handle it */ handle_command(stat_pub, ¤t_status, &cmd); } - /* update parameters */ orb_check(param_changed_sub, &new_data); - if (new_data) { + if (new_data || param_init_forced) { + param_init_forced = false; /* parameters changed */ orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); @@ -1335,7 +1337,6 @@ int commander_thread_main(int argc, char *argv[]) if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { warnx("failed setting new system type"); } - /* disable manual override for all systems that rely on electronic stabilization */ if (current_status.system_type == MAV_TYPE_QUADROTOR || current_status.system_type == MAV_TYPE_HEXAROTOR || |