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Commander: make last_fail_time_us parameter a reference instead of pointer

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This commit is contained in:
Matthias Grob 2022-03-23 17:30:28 +01:00 committed by Daniel Agar
parent eee4aaee4f
commit e6ed595651
2 changed files with 7 additions and 7 deletions
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12
src/modules/commander/Commander.cpp
View File

@ -3237,7 +3237,7 @@ Commander::control_status_leds(bool changed, const uint8_t battery_warning)
}
bool Commander::check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us,
const hrt_abstime &data_timestamp_us, hrt_abstime &last_fail_time_us,
const bool was_valid)
{
bool valid = was_valid;
@ -3250,7 +3250,7 @@ bool Commander::check_posvel_validity(const bool data_valid, const float data_ac
if (level_check_pass) {
if (!was_valid) {
// check if probation period has elapsed
if (hrt_elapsed_time(last_fail_time_us) > 1_s) {
if (hrt_elapsed_time(&last_fail_time_us) > 1_s) {
valid = true;
}
}
@ -3262,7 +3262,7 @@ bool Commander::check_posvel_validity(const bool data_valid, const float data_ac
valid = false;
}
*last_fail_time_us = hrt_absolute_time();
last_fail_time_us = hrt_absolute_time();
}
if (was_valid != valid) {
@ -4097,15 +4097,15 @@ void Commander::estimator_check()
_status_flags.global_position_valid =
check_posvel_validity(xy_valid, gpos.eph, _param_com_pos_fs_eph.get(), gpos.timestamp,
&_last_gpos_fail_time_us, _status_flags.global_position_valid);
_last_gpos_fail_time_us, _status_flags.global_position_valid);
_status_flags.local_position_valid =
check_posvel_validity(xy_valid, lpos.eph, lpos_eph_threshold_adj, lpos.timestamp,
&_last_lpos_fail_time_us, _status_flags.local_position_valid);
_last_lpos_fail_time_us, _status_flags.local_position_valid);
_status_flags.local_velocity_valid =
check_posvel_validity(v_xy_valid, lpos.evh, _param_com_vel_fs_evh.get(), lpos.timestamp,
&_last_lvel_fail_time_us, _status_flags.local_velocity_valid);
_last_lvel_fail_time_us, _status_flags.local_velocity_valid);
}

2
src/modules/commander/Commander.hpp
View File

@ -132,7 +132,7 @@ private:
void battery_status_check();
bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us,
const hrt_abstime &data_timestamp_us, hrt_abstime &last_fail_time_us,
const bool was_valid);
void control_status_leds(bool changed, const uint8_t battery_warning);