From e0af2912a1d030ea8bb392902b41401ae1f80ee1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 2 Mar 2018 19:10:01 +0100 Subject: [PATCH] navigator: avoid use of a static variable last_geofence_check --- src/modules/navigator/navigator_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index f38d7582c7..07c38a2bc8 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -232,6 +232,8 @@ Navigator::run() /* rate-limit position subscription to 20 Hz / 50 ms */ orb_set_interval(_local_pos_sub, 50); + hrt_abstime last_geofence_check = 0; + while (!should_exit()) { /* wait for up to 1000ms for data */ @@ -552,8 +554,6 @@ Navigator::run() check_traffic(); /* Check geofence violation */ - static hrt_abstime last_geofence_check = 0; - if (have_geofence_position_data && (_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) && (hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL)) {