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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/commander.cpp
+4 -3
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@@ -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);
}