From 22bd06e5d51f449136851aed287ded390f21abd8 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 13 Nov 2018 15:09:17 +0100
Subject: [PATCH] mc_pos_control: don't do orb_check on polled topic
When we poll on vehicle_local_position we shouldn't do yet another
orb_check but copy it first up.
---
src/modules/mc_pos_control/mc_pos_control_main.cpp | 9 +++------
1 file changed, 3 insertions(+), 6 deletions(-)
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 9d1393ed97..63101b7bf9 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -412,6 +412,9 @@ MulticopterPositionControl::parameters_update(bool force)
void
MulticopterPositionControl::poll_subscriptions()
{
+ // This is polled for, so all we need to do is a copy now.
+ orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos);
+
bool updated;
orb_check(_vehicle_status_sub, &updated);
@@ -447,12 +450,6 @@ MulticopterPositionControl::poll_subscriptions()
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
}
- orb_check(_local_pos_sub, &updated);
-
- if (updated) {
- orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos);
- }
-
orb_check(_att_sub, &updated);
if (updated) {
--
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