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PreflightCheck: use orb_unsubscribe instead of px4_close

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This commit is contained in:
Beat Küng
2017-04-06 09:09:08 +02:00
committed by Lorenz Meier
parent ecb0dc2bc4
commit 04303dcf72
1 changed files with 7 additions and 5 deletions
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12
src/modules/commander/PreflightCheck.cpp
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@@ -166,8 +166,11 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, bool checkAcc, bo
// get the sensor preflight data
int sensors_sub = orb_subscribe(ORB_ID(sensor_preflight));
struct sensor_preflight_s sensors = {};
orb_copy(ORB_ID(sensor_preflight), sensors_sub, &sensors);
px4_close(sensors_sub);
if (orb_copy(ORB_ID(sensor_preflight), sensors_sub, &sensors) != 0) {
// can happen if not advertised (yet)
return true;
}
orb_unsubscribe(sensors_sub);
// Use the difference between IMU's to detect a bad calibration. If a single IMU is fitted, the value being checked will be zero so this check will always pass.
bool success = true;
@@ -409,7 +412,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, bool optional, bool rep
}
out:
px4_close(fd);
orb_unsubscribe(fd);
return success;
}
@@ -441,7 +444,7 @@ static bool gnssCheck(orb_advert_t *mavlink_log_pub, bool report_fail)
}
}
px4_close(gpsSub);
orb_unsubscribe(gpsSub);
return success;
}
@@ -454,7 +457,6 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
struct estimator_status_s status;
orb_copy(ORB_ID(estimator_status), sub, &status);
orb_unsubscribe(sub);
px4_close(sub);
bool success = true; // start with a pass and change to a fail if any test fails
float test_limit; // pass limit re-used for each test