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dataman: remove obsolete persistence and reset reason

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This commit is contained in:
Daniel Agar
2021-12-12 12:06:35 -05:00
committed by GitHub
parent ad1bfb5410
commit 986cf288da
10 changed files with 61 additions and 287 deletions
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src/modules/commander/Commander.cpp
-28
View File
@@ -705,9 +705,6 @@ Commander::Commander() :
// default for vtol is rotary wing
_vtol_status.vtol_in_rw_mode = true;
/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
mission_init();
}
bool
@@ -3401,31 +3398,6 @@ void Commander::enable_hil()
_status.hil_state = vehicle_status_s::HIL_STATE_ON;
}
void Commander::mission_init()
{
/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
mission_s mission;
if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
if (mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 || mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1) {
if (mission.count > 0) {
PX4_INFO("Mission #%" PRIu8 " loaded, %" PRIu16 " WPs, curr: %" PRId32, mission.dataman_id, mission.count,
mission.current_seq);
}
} else {
PX4_ERR("reading mission state failed");
/* initialize mission state in dataman */
mission.timestamp = hrt_absolute_time();
mission.dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0;
dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
}
_mission_pub.publish(mission);
}
}
void Commander::data_link_check()
{
for (auto &telemetry_status : _telemetry_status_subs) {
src/modules/commander/Commander.hpp
-4
View File
@@ -72,7 +72,6 @@
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/iridiumsbd_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/parameter_update.h>
@@ -154,8 +153,6 @@ private:
void executeActionRequest(const action_request_s &action_request);
void mission_init();
void offboard_control_update();
void print_reject_mode(uint8_t main_state);
@@ -444,7 +441,6 @@ private:
uORB::Publication<vehicle_control_mode_s> _control_mode_pub{ORB_ID(vehicle_control_mode)};
uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
uORB::Publication<vehicle_status_s> _status_pub{ORB_ID(vehicle_status)};
uORB::Publication<mission_s> _mission_pub{ORB_ID(mission)};
uORB::PublicationData<home_position_s> _home_pub{ORB_ID(home_position)};