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Commander: move esc_status as local variable.

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2019-08-09 09:41:17 +02:00
committed by Beat Küng
parent 5fe7992af5
commit 2eb9fb9ed6
3 changed files with 6 additions and 5 deletions
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msg/vehicle_status_flags.msg
-1
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@@ -22,7 +22,6 @@ bool circuit_breaker_engaged_gpsfailure_check
bool circuit_breaker_flight_termination_disabled bool circuit_breaker_flight_termination_disabled
bool circuit_breaker_engaged_usb_check bool circuit_breaker_engaged_usb_check
bool circuit_breaker_engaged_posfailure_check # set to true when the position valid checks have been disabled bool circuit_breaker_engaged_posfailure_check # set to true when the position valid checks have been disabled
bool circuit_breaker_engaged_escs_check
bool offboard_control_signal_found_once bool offboard_control_signal_found_once
bool offboard_control_signal_lost bool offboard_control_signal_lost
src/modules/commander/Commander.cpp
+4 -3
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@@ -150,7 +150,6 @@ static uint8_t _last_sp_man_arm_switch = 0;
static struct vtol_vehicle_status_s vtol_status = {}; static struct vtol_vehicle_status_s vtol_status = {};
static struct cpuload_s cpuload = {}; static struct cpuload_s cpuload = {};
static struct esc_status_s esc_status = {};
static bool last_overload = false; static bool last_overload = false;
@@ -1624,8 +1623,10 @@ Commander::run()
if (esc_status_sub.updated()) { if (esc_status_sub.updated()) {
/* ESCs status changed */ /* ESCs status changed */
esc_status_s esc_status = {};
esc_status_sub.copy(&esc_status); esc_status_sub.copy(&esc_status);
esc_status_check(); esc_status_check(esc_status);
} }
estimator_check(&status_changed); estimator_check(&status_changed);
@@ -4366,7 +4367,7 @@ Commander::offboard_control_update(bool &status_changed)
} }
void Commander::esc_status_check() void Commander::esc_status_check(const esc_status_s &esc_status)
{ {
char esc_fail_msg[50]; char esc_fail_msg[50];
esc_fail_msg[0] = '\0'; esc_fail_msg[0] = '\0';
src/modules/commander/Commander.hpp
+2 -1
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@@ -65,6 +65,7 @@
#include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/esc_status.h>
using math::constrain; using math::constrain;
@@ -217,7 +218,7 @@ private:
void battery_status_check(); void battery_status_check();
void esc_status_check(); void esc_status_check(const esc_status_s &esc_status);
/** /**
* Checks the status of all available data links and handles switching between different system telemetry states. * Checks the status of all available data links and handles switching between different system telemetry states.