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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/rcloss.cpp
+3 -3
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@@ -128,7 +128,7 @@ RCLoss::set_rcl_item()
case RCL_STATE_TERMINATE: {
/* Request flight termination from the commander */
_navigator->get_mission_result()->flight_termination = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
warnx("rc not recovered: request flight termination");
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.valid = false;
@@ -162,7 +162,7 @@ RCLoss::advance_rcl()
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: rc loss, terminating");
_rcl_state = RCL_STATE_TERMINATE;
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
}
break;
@@ -171,7 +171,7 @@ RCLoss::advance_rcl()
warnx("time is up, no RC regain, terminating");
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RC not regained, terminating");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->publish_mission_result();
_navigator->set_mission_result_updated();
reset_mission_item_reached();
break;
case RCL_STATE_TERMINATE: