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Commander: bugfix: get all available messages on the subsystem_info topic

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Dusan Zivkovic 2019-09-25 14:55:38 +02:00 committed by Beat Küng
parent b6f21fa76e
commit ab2e235333
1 changed files with 5 additions and 10 deletions
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15
src/modules/commander/Commander.cpp
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@ -1289,8 +1289,6 @@ Commander::run()
bool status_changed = true;
bool param_init_forced = true;
bool updated = false;
uORB::Subscription actuator_controls_sub{ORB_ID_VEHICLE_ATTITUDE_CONTROLS};
uORB::Subscription cmd_sub{ORB_ID(vehicle_command)};
uORB::Subscription cpuload_sub{ORB_ID(cpuload)};
@ -1736,14 +1734,11 @@ Commander::run()
battery_status_check();
/* update subsystem info which arrives from outside of commander*/
do {
if (subsys_sub.updated()) {
subsystem_info_s info{};
subsys_sub.copy(&info);
set_health_flags(info.subsystem_type, info.present, info.enabled, info.ok, status);
status_changed = true;
}
} while (updated);
subsystem_info_s info;
while (subsys_sub.update(&info)) {
set_health_flags(info.subsystem_type, info.present, info.enabled, info.ok, status);
status_changed = true;
}
/* If in INIT state, try to proceed to STANDBY state */
if (!status_flags.condition_calibration_enabled && status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {