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commander: control_status_leds() use _armed directly

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This commit is contained in:
Daniel Agar
2020-12-01 11:30:28 -05:00
committed by Beat Küng
parent 8ac2581d7b
commit dc435c4c90
2 changed files with 7 additions and 9 deletions
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src/modules/commander/Commander.cpp
+6 -7
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@@ -1411,7 +1411,7 @@ Commander::run()
bool param_init_forced = true;
control_status_leds(&status, &_armed, true, _battery_warning);
control_status_leds(&status, true, _battery_warning);
/* update vehicle status to find out vehicle type (required for preflight checks) */
status.system_type = _param_mav_type.get();
@@ -2563,12 +2563,12 @@ Commander::run()
/* blinking LED message, don't touch LEDs */
if (blink_state == 2) {
/* blinking LED message completed, restore normal state */
control_status_leds(&status, &_armed, true, _battery_warning);
control_status_leds(&status, true, _battery_warning);
}
} else {
/* normal state */
control_status_leds(&status, &_armed, _status_changed, _battery_warning);
control_status_leds(&status, _status_changed, _battery_warning);
}
// check if the worker has finished
@@ -2642,8 +2642,7 @@ Commander::check_valid(const hrt_abstime &timestamp, const hrt_abstime &timeout,
}
void
Commander::control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed,
const uint8_t battery_warning)
Commander::control_status_leds(vehicle_status_s *status_local, bool changed, const uint8_t battery_warning)
{
static hrt_abstime overload_start = 0;
@@ -2725,7 +2724,7 @@ Commander::control_status_leds(vehicle_status_s *status_local, const actuator_ar
#if !defined(CONFIG_ARCH_LEDS) && defined(BOARD_HAS_CONTROL_STATUS_LEDS)
/* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */
if (actuator_armed->armed) {
if (_armed.armed) {
if (status.failsafe) {
BOARD_ARMED_LED_OFF();
@@ -2740,7 +2739,7 @@ Commander::control_status_leds(vehicle_status_s *status_local, const actuator_ar
BOARD_ARMED_LED_ON();
}
} else if (actuator_armed->ready_to_arm) {
} else if (_armed.ready_to_arm) {
BOARD_ARMED_LED_OFF();
/* ready to arm, blink at 1Hz */