Merge pull request #501 from markhermelinggt/patch-2

xQueuePeek with third parameter '0' does not initialize the 2nd param…
bitcraze · Nov 7, 2019 · 24590ec · 24590ec
2 parents ff3caa8 + 70a7453
commit 24590ec
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/modules/src/commander.c b/src/modules/src/commander.c
@@ -66,9 +66,9 @@ void commanderInit(void)
 void commanderSetSetpoint(setpoint_t *setpoint, int priority)
 {
   int currentPriority;
-  xQueuePeek(priorityQueue, &currentPriority, 0);
 
-  if (priority >= currentPriority) {
+
+  if (xQueuePeek(priorityQueue, &currentPriority, 0) == pdPass && priority >= currentPriority) {
     setpoint->timestamp = xTaskGetTickCount();
     // This is a potential race but without effect on functionality
     xQueueOverwrite(setpointQueue, setpoint);