From a310980ad2206cab09977713533cef7b3c816b98 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Tue, 13 Nov 2018 06:40:12 +0000
Subject: [PATCH] mc_pos_control: refactor loop polling
---
.../mc_pos_control/mc_pos_control_main.cpp | 19 +++++++------------
1 file changed, 7 insertions(+), 12 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 fd1bc1add3..39733976e5 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -593,21 +593,16 @@ MulticopterPositionControl::run()
// Let's be safe and have the landing gear down by default
_att_sp.landing_gear = vehicle_attitude_setpoint_s::LANDING_GEAR_DOWN;
- // wakeup source
- px4_pollfd_struct_t fds[1];
-
- fds[0].fd = _local_pos_sub;
- fds[0].events = POLLIN;
+ // setup file descriptor to poll the local position as loop wakeup source
+ px4_pollfd_struct_t poll_fd = {.fd = _local_pos_sub, .events = POLLIN};
while (!should_exit()) {
- // wait for up to 20ms for data
- int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 20);
-
- // pret == 0: go through the loop anyway to copy manual input at 50 Hz.
-
+ // poll for new data on the local position state topic (wait for up to 20ms)
+ const int poll_return = px4_poll(&poll_fd, 1, 20);
+ // poll_return == 0: go through the loop anyway to copy manual input at 50 Hz
// this is undesirable but not much we can do
- if (pret < 0) {
- PX4_ERR("poll error %d, %d", pret, errno);
+ if (poll_return < 0) {
+ PX4_ERR("poll error: %d, %s", poll_return, strerror(errno));
continue;
}
--
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