diff options
Diffstat (limited to 'src/modules/uavcan/uavcan_main.cpp')
| -rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 2c543462e..ccc087920 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -333,14 +333,12 @@ int UavcanNode::run() } else { // get controls for required topics bool controls_updated = false; - unsigned poll_id = 1; for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (_control_subs[i] > 0) { - if (_poll_fds[poll_id].revents & POLLIN) { + if (_poll_fds[_poll_ids[i]].revents & POLLIN) { controls_updated = true; orb_copy(_control_topics[i], _control_subs[i], &_controls[i]); } - poll_id++; } } @@ -474,6 +472,7 @@ UavcanNode::subscribe() if (_control_subs[i] > 0) { _poll_fds[_poll_fds_num].fd = _control_subs[i]; _poll_fds[_poll_fds_num].events = POLLIN; + _poll_ids[i] = _poll_fds_num; _poll_fds_num++; } } |