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Commander: Combine telemetry variables into struct

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acfloria
2018-04-11 15:15:28 +02:00
committed by Beat Küng
parent 6f0d3ffe9b
commit 219980cec1
2 changed files with 35 additions and 41 deletions
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src/modules/commander/Commander.hpp
+8 -6
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@@ -127,12 +127,14 @@ private:
int32_t datalink_loss_timeout, int32_t datalink_regain_timeout, bool *status_changed);
// telemetry variables
int _telemetry_subs[ORB_MULTI_MAX_INSTANCES] = {};
uint64_t _telemetry_last_heartbeat[ORB_MULTI_MAX_INSTANCES] = {};
uint64_t _telemetry_last_dl_loss[ORB_MULTI_MAX_INSTANCES] = {};
bool _telemetry_preflight_checks_reported[ORB_MULTI_MAX_INSTANCES] = {};
bool _telemetry_lost[ORB_MULTI_MAX_INSTANCES] = {};
bool _telemetry_high_latency[ORB_MULTI_MAX_INSTANCES] = {};
struct telemetry_data {
int subscriber = -1;
uint64_t last_heartbeat = 0u;
uint64_t last_dl_loss = 0u;
bool preflight_checks_reported = false;
bool lost = true;
bool high_latency = false;
} _telemetry[ORB_MULTI_MAX_INSTANCES];
// publisher
orb_advert_t _vehicle_cmd_pub = nullptr;