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commander: publish internal state

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Julian Oes
2016-02-29 09:40:11 +00:00
parent 3a209d71af
commit be2fe78c82
1 changed files with 11 additions and 0 deletions
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src/modules/commander/commander.cpp
+11
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@@ -1299,6 +1299,8 @@ int commander_thread_main(int argc, char *argv[])
orb_advert_t mission_pub = nullptr;
mission_s mission;
orb_advert_t commander_state_pub = nullptr;
if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
if (mission.dataman_id >= 0 && mission.dataman_id <= 1) {
if (mission.count > 0) {
@@ -2748,6 +2750,15 @@ int commander_thread_main(int argc, char *argv[])
status_changed = false;
/* publish internal state for logging purposes */
if (commander_state_pub != nullptr) {
orb_publish(ORB_ID(commander_state), commander_state_pub, &internal_state);
} else {
commander_state_pub = orb_advertise(ORB_ID(commander_state), &internal_state);
}
usleep(COMMANDER_MONITORING_INTERVAL);
}