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navigator: avoid use of a static variable last_geofence_check

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Beat Küng
2018-03-13 17:35:15 +01:00
parent 320bdc6482
commit e0af2912a1
1 changed files with 2 additions and 2 deletions
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src/modules/navigator/navigator_main.cpp
+2 -2
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@@ -232,6 +232,8 @@ Navigator::run()
/* rate-limit position subscription to 20 Hz / 50 ms */ /* rate-limit position subscription to 20 Hz / 50 ms */
orb_set_interval(_local_pos_sub, 50); orb_set_interval(_local_pos_sub, 50);
hrt_abstime last_geofence_check = 0;
while (!should_exit()) { while (!should_exit()) {
/* wait for up to 1000ms for data */ /* wait for up to 1000ms for data */
@@ -552,8 +554,6 @@ Navigator::run()
check_traffic(); check_traffic();
/* Check geofence violation */ /* Check geofence violation */
static hrt_abstime last_geofence_check = 0;
if (have_geofence_position_data && if (have_geofence_position_data &&
(_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) && (_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
(hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL)) { (hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL)) {