From b66730b5a9011e349d25655f777dccf5803d90c8 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 26 Nov 2013 15:38:53 +0100 Subject: making sure the mavlink fd is open in fw pos ctrl --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 5 +++++ 1 file changed, 5 insertions(+) (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp') diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 7da28cbfa..d12a1750a 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1173,6 +1173,11 @@ FixedwingPositionControl::task_main() /* only run controller if position changed */ if (fds[1].revents & POLLIN) { + /* XXX Hack to get mavlink output going */ + if (mavlink_fd < 0) { + /* try to open the mavlink log device every once in a while */ + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + } static uint64_t last_run = 0; float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; -- cgit v1.2.3