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vehicle_status_flags: cleanup message, move non-failsafe flags to vehicle_status

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This commit is contained in:
Beat Küng
2022-10-11 22:31:20 -04:00
committed by Daniel Agar
parent ae6377dfa0
commit e4bb219d10
30 changed files with 325 additions and 259 deletions
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src/modules/gyro_calibration/GyroCalibration.cpp
+6 -12
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@@ -86,6 +86,12 @@ void GyroCalibration::Run()
Reset();
return;
}
if (_system_calibrating != vehicle_status.calibration_enabled) {
_system_calibrating = vehicle_status.calibration_enabled;
Reset();
return;
}
}
}
@@ -94,18 +100,6 @@ void GyroCalibration::Run()
return;
}
if (_vehicle_status_flags_sub.updated()) {
vehicle_status_flags_s vehicle_status_flags;
if (_vehicle_status_flags_sub.copy(&vehicle_status_flags)) {
if (_system_calibrating != vehicle_status_flags.calibration_enabled) {
_system_calibrating = vehicle_status_flags.calibration_enabled;
Reset();
return;
}
}
}
if (_system_calibrating) {
// do nothing if system is calibrating
Reset();