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commander: write timestamp of commander_state topic on init and state change

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This commit is contained in:
Beat Küng 2016-07-19 09:21:35 +02:00
parent a420d47797
commit 7b52eced66
2 changed files with 2 additions and 0 deletions
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1
src/modules/commander/commander.cpp
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@ -1267,6 +1267,7 @@ int commander_thread_main(int argc, char *argv[])
status_flags.rc_input_blocked = false;
status.rc_input_mode = vehicle_status_s::RC_IN_MODE_DEFAULT;
internal_state.main_state = commander_state_s::MAIN_STATE_MANUAL;
internal_state.timestamp = hrt_absolute_time();
main_state_prev = commander_state_s::MAIN_STATE_MAX;
status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
status.arming_state = vehicle_status_s::ARMING_STATE_INIT;

1
src/modules/commander/state_machine_helper.cpp
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@ -407,6 +407,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
if (internal_state->main_state != new_main_state) {
main_state_prev = internal_state->main_state;
internal_state->main_state = new_main_state;
internal_state->timestamp = hrt_absolute_time();
} else {
ret = TRANSITION_NOT_CHANGED;
}