From 65e0d63ba684b993ebf04ef2365abcc4c9b1ba99 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 24 Mar 2017 08:29:04 +0100 Subject: [PATCH] commander: avoid duplicated publish, cleanup log output for offboard_mission update - orb_advertise already publishes a struct, no need for orb_publish - mavlink_log_critical goes to the console too --- src/modules/commander/commander.cpp | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ba951cb501..fbcb7a28bc 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1528,7 +1528,6 @@ int commander_thread_main(int argc, char *argv[]) memset(&command_ack, 0, sizeof(command_ack)); /* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */ - orb_advert_t mission_pub = nullptr; mission_s mission; orb_advert_t commander_state_pub = nullptr; @@ -1543,9 +1542,7 @@ int commander_thread_main(int argc, char *argv[]) } } else { - const char *missionfail = "reading mission state failed"; - warnx("%s", missionfail); - mavlink_log_critical(&mavlink_log_pub, missionfail); + mavlink_log_critical(&mavlink_log_pub, "reading mission state failed"); /* initialize mission state in dataman */ mission.dataman_id = 0; @@ -1554,8 +1551,8 @@ int commander_thread_main(int argc, char *argv[]) dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s)); } - mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission); - orb_publish(ORB_ID(offboard_mission), mission_pub, &mission); + orb_advert_t mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission); + orb_unadvertise(mission_pub); } int ret;