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commander: move ownership of vehicle_status_flags_s to HealthAndArmingChecks

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This commit is contained in:
Beat Küng
2022-09-06 09:24:00 +02:00
committed by Daniel Agar
parent cf2eb69d25
commit 6fda555cba
8 changed files with 42 additions and 28 deletions
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src/modules/commander/HealthAndArmingChecks/Common.cpp
+5 -2
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@@ -172,6 +172,7 @@ void Report::reset()
_results[_current_result].reset();
_next_buffer_idx = 0;
_buffer_overflowed = false;
_results_changed = false;
}
void Report::prepare(uint8_t vehicle_type)
@@ -186,16 +187,18 @@ NavModes Report::getModeGroup(uint8_t nav_state) const
return (NavModes)(1u << nav_state);
}
void Report::finalize()
bool Report::finalize()
{
_results[_current_result].arming_checks.valid = true;
_already_reported = false;
_results_changed = _results[0] != _results[1];
return _results_changed;
}
bool Report::report(bool is_armed, bool force)
{
const hrt_abstime now = hrt_absolute_time();
const bool has_difference = _had_unreported_difference || _results[0] != _results[1];
const bool has_difference = _had_unreported_difference || _results_changed;
if (now - _last_report < _min_reporting_interval && !force) {
if (has_difference) {