From c2350c06c1dbc036a37d90ee09096dab27e86f5f Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 29 Mar 2021 13:32:55 -0400
Subject: [PATCH] commander: ManualControl avoid unnecessary copy

---
 src/modules/commander/ManualControl.cpp | 13 ++-----------
 src/modules/commander/ManualControl.hpp |  1 -
 2 files changed, 2 insertions(+), 12 deletions(-)

diff --git a/src/modules/commander/ManualControl.cpp b/src/modules/commander/ManualControl.cpp
index 60b5fa56c4..89f9557710 100644
--- a/src/modules/commander/ManualControl.cpp
+++ b/src/modules/commander/ManualControl.cpp
@@ -47,11 +47,8 @@ bool ManualControl::update()
 	bool updated = false;
 
 	if (_manual_control_setpoint_sub.updated()) {
-		manual_control_setpoint_s manual_control_setpoint;
-
-		if (_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
-			process(manual_control_setpoint);
-		}
+		_last_manual_control_setpoint = _manual_control_setpoint;
+		_manual_control_setpoint_sub.copy(&_manual_control_setpoint);
 
 		updated = true;
 	}
@@ -63,12 +60,6 @@ bool ManualControl::update()
 	return updated && _rc_available;
 }
 
-void ManualControl::process(const manual_control_setpoint_s &manual_control_setpoint)
-{
-	_last_manual_control_setpoint = _manual_control_setpoint;
-	_manual_control_setpoint = manual_control_setpoint;
-}
-
 bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_mode)
 {
 	const bool override_auto_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_AUTO_MODE_BIT)
diff --git a/src/modules/commander/ManualControl.hpp b/src/modules/commander/ManualControl.hpp
index ef87e8a22d..e422565aaa 100644
--- a/src/modules/commander/ManualControl.hpp
+++ b/src/modules/commander/ManualControl.hpp
@@ -75,7 +75,6 @@ public:
 
 private:
 	void updateParams() override;
-	void process(const manual_control_setpoint_s &manual_control_setpoint);
 
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	manual_control_setpoint_s _manual_control_setpoint{};