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

src/modules/mag_bias_estimator/MagBiasEstimator.cpp

@@ -101,6 +101,16 @@ void MagBiasEstimator::Run()
 					ScheduleOnInterval(20_ms);
 				}
 			}
+
+			bool system_calibrating = vehicle_status.calibration_enabled;
+
+			if (system_calibrating != _system_calibrating) {
+				_system_calibrating = system_calibrating;
+
+				for (auto &reset : _reset_field_estimator) {
+					reset = true;
+				}
+			}
 		}
 	}
 
@@ -130,22 +140,6 @@ void MagBiasEstimator::Run()
 		}
 	}
 
-	if (_vehicle_status_flags_sub.updated()) {
-		vehicle_status_flags_s vehicle_status_flags;
-
-		if (_vehicle_status_flags_sub.copy(&vehicle_status_flags)) {
-			bool system_calibrating = vehicle_status_flags.calibration_enabled;
-
-			if (system_calibrating != _system_calibrating) {
-				_system_calibrating = system_calibrating;
-
-				for (auto &reset : _reset_field_estimator) {
-					reset = true;
-				}
-			}
-		}
-	}
-
 	// do nothing during regular sensor calibration
 	if (_system_calibrating) {
 		return;

src/modules/mag_bias_estimator/MagBiasEstimator.hpp

@@ -51,7 +51,6 @@
 #include <uORB/topics/sensor_mag.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_status_flags.h>
 
 namespace mag_bias_estimator
 {
@@ -91,7 +90,6 @@ private:
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
-	uORB::Subscription _vehicle_status_flags_sub{ORB_ID(vehicle_status_flags)};
 
 	uORB::Publication<magnetometer_bias_estimate_s> _magnetometer_bias_estimate_pub{ORB_ID(magnetometer_bias_estimate)};