From 9b35b680f64be1dd812f19bcc0b9d911e35b0594 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Fri, 18 Feb 2022 11:16:34 +0100
Subject: [PATCH] gimbal: fix input selection

Once we have valid input we should use that and not overwrite our
update_result with the result from other inputs, otherwise the
automatic selection does not actually work.

This behavior means that only the first update will be used if there are
several sources updating in the same cycle.
---
 src/modules/gimbal/gimbal.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/modules/gimbal/gimbal.cpp b/src/modules/gimbal/gimbal.cpp
index 49c2591234..0276b433f5 100644
--- a/src/modules/gimbal/gimbal.cpp
+++ b/src/modules/gimbal/gimbal.cpp
@@ -228,6 +228,8 @@ static int gimbal_thread_main(int argc, char *argv[])
 
 				update_result = thread_data.input_objs[i]->update(poll_timeout, control_data, already_active);
 
+				bool break_loop = false;
+
 				switch (update_result) {
 				case InputBase::UpdateResult::NoUpdate:
 					if (already_active) {
@@ -239,10 +241,12 @@ static int gimbal_thread_main(int argc, char *argv[])
 
 				case InputBase::UpdateResult::UpdatedActive:
 					thread_data.last_input_active = i;
+					break_loop = true;
 					break;
 
 				case InputBase::UpdateResult::UpdatedActiveOnce:
 					thread_data.last_input_active = -1;
+					break_loop = true;
 					break;
 
 				case InputBase::UpdateResult::UpdatedNotActive:
@@ -253,6 +257,10 @@ static int gimbal_thread_main(int argc, char *argv[])
 
 					break;
 				}
+
+				if (break_loop) {
+					break;
+				}
 			}
 
 			if (params.mnt_do_stab == 1) {