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navigator: don't publish mission result immediately but only after every iteration of the navigator

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This commit is contained in:
Ban Siesta
2014-12-19 23:36:32 +00:00
parent c9ca61ef5b
commit f0ff914b62
7 changed files with 26 additions and 17 deletions
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src/modules/navigator/datalinkloss.cpp
+4 -4
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@@ -155,7 +155,7 @@ DataLinkLoss::set_dll_item()
case DLL_STATE_TERMINATE: {
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
warnx("not switched to manual: request flight termination");
pos_sp_triplet->previous.valid = false;
@@ -188,7 +188,7 @@ DataLinkLoss::advance_dll()
_navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get());
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: too many DL losses, fly to airfield home");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
} else {
@@ -209,7 +209,7 @@ DataLinkLoss::advance_dll()
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: fly to airfield home");
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
break;
case DLL_STATE_FLYTOAIRFIELDHOMEWP:
@@ -217,7 +217,7 @@ DataLinkLoss::advance_dll()
warnx("time is up, state should have been changed manually by now");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no manual control, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
break;
case DLL_STATE_TERMINATE: