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commander: fix status init & some status update changes

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This commit is contained in:
Beat Küng
2019-03-12 10:28:56 +01:00
parent 697566177c
commit 6672284871
2 changed files with 13 additions and 10 deletions
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src/modules/commander/Commander.cpp
+8 -6
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@@ -3769,9 +3769,6 @@ Commander *Commander::instantiate(int argc, char *argv[])
{
Commander *instance = new Commander();
// XXX remove this once this is a class member
status = {};
if (instance) {
if (argc >= 2 && !strcmp(argv[1], "--hil")) {
instance->enable_hil();
@@ -3885,7 +3882,10 @@ void Commander::data_link_check(bool &status_changed)
if (telemetry.heartbeat_time > _datalink_last_heartbeat_gcs) {
status.data_link_lost = false;
status_changed = true;
mavlink_log_info(&mavlink_log_pub, "Data link regained");
if (_datalink_last_heartbeat_gcs != 0) {
mavlink_log_info(&mavlink_log_pub, "Data link regained");
}
}
}
@@ -3899,6 +3899,7 @@ void Commander::data_link_check(bool &status_changed)
if (telemetry.heartbeat_time > _datalink_last_heartbeat_onboard_controller) {
mavlink_log_info(&mavlink_log_pub, "Onboard controller regained");
_onboard_controller_lost = false;
status_changed = true;
}
}
@@ -3915,9 +3916,9 @@ void Commander::data_link_check(bool &status_changed)
if (_avoidance_system_lost) {
mavlink_log_info(&mavlink_log_pub, "Avoidance system regained");
status_changed = true;
_avoidance_system_lost = false;
}
_avoidance_system_lost = false;
}
break;
@@ -3947,6 +3948,7 @@ void Commander::data_link_check(bool &status_changed)
mavlink_log_critical(&mavlink_log_pub, "Onboard controller lost");
_onboard_controller_lost = true;
status_changed = true;
}
// AVOIDANCE SYSTEM state check (only if it is enabled)