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commander remove continuous param_get in arm_auth_update

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This commit is contained in:
Daniel Agar
2017-12-11 13:51:28 -05:00
committed by Lorenz Meier
parent 641129ad4e
commit 49180de27c
3 changed files with 9 additions and 6 deletions
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src/modules/commander/arm_auth.cpp
+4 -2
View File
@@ -179,9 +179,11 @@ uint8_t arm_auth_check()
return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
}
void arm_auth_update(hrt_abstime now)
void arm_auth_update(hrt_abstime now, bool param_update)
{
param_get(param_arm_parameters, (int32_t*)&arm_parameters);
if (param_update) {
param_get(param_arm_parameters, (int32_t*)&arm_parameters);
}
switch (state) {
case ARM_AUTH_WAITING_AUTH:
src/modules/commander/arm_auth.h
+1 -1
View File
@@ -45,6 +45,6 @@ enum arm_auth_methods {
};
void arm_auth_init(orb_advert_t *mav_log_pub, uint8_t *system_id);
void arm_auth_update(hrt_abstime now);
void arm_auth_update(hrt_abstime now, bool param_update = true);
uint8_t arm_auth_check();
enum arm_auth_methods arm_auth_method_get();
src/modules/commander/commander.cpp
+4 -3
View File
@@ -1704,9 +1704,10 @@ Commander::run()
arming_ret = TRANSITION_NOT_CHANGED;
/* update parameters */
orb_check(param_changed_sub, &updated);
bool params_updated = false;
orb_check(param_changed_sub, &params_updated);
if (updated || param_init_forced) {
if (params_updated || param_init_forced) {
/* parameters changed */
struct parameter_update_s param_changed;
@@ -3189,7 +3190,7 @@ Commander::run()
have_taken_off_since_arming = false;
}
arm_auth_update(now);
arm_auth_update(now, params_updated || param_init_forced);
usleep(COMMANDER_MONITORING_INTERVAL);
}