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mc_att_control_main: make sure to initialize at least one gyro sensor

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in HIL mode, gyros are published after mc_att_control started.
This commit is contained in:
Beat Küng
2017-03-03 17:35:04 +01:00
committed by Lorenz Meier
parent 570aca98a3
commit ec33607912
1 changed files with 5 additions and 1 deletions
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6
src/modules/mc_att_control/mc_att_control_main.cpp
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@@ -835,7 +835,7 @@ MulticopterAttitudeControl::sensor_correction_poll()
}
/* update the latest gyro selection */
if (_sensor_correction.selected_gyro_instance < sizeof(_sensor_gyro_sub) / sizeof(_sensor_gyro_sub[0])) {
if (_sensor_correction.selected_gyro_instance < _gyro_count) {
_selected_gyro = _sensor_correction.selected_gyro_instance;
}
}
@@ -1109,6 +1109,10 @@ MulticopterAttitudeControl::task_main()
_gyro_count = math::min(orb_group_count(ORB_ID(sensor_gyro)), MAX_GYRO_COUNT);
if (_gyro_count == 0) {
_gyro_count = 1;
}
for (unsigned s = 0; s < _gyro_count; s++) {
_sensor_gyro_sub[s] = orb_subscribe_multi(ORB_ID(sensor_gyro), s);
}