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FailureDetector: simplify updated/changed check

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This commit is contained in:
Matthias Grob
2020-07-30 16:15:40 +02:00
parent 2bb5917188
commit c9b81eaf08
3 changed files with 18 additions and 48 deletions
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src/modules/commander/Commander.cpp
+2 -6
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@@ -2235,12 +2235,8 @@ Commander::run()
/* Check for failure detector status */
if (_failure_detector.update(status)) {
const uint8_t failure_status = _failure_detector.getStatus();
if (failure_status != status.failure_detector_status) {
status.failure_detector_status = failure_status;
_status_changed = true;
}
status.failure_detector_status = _failure_detector.getStatus();
_status_changed = true;
if (armed.armed && _failure_detector.isFailure()) {
const hrt_abstime time_at_arm = armed.armed_time_ms * 1000;