navigator: fix vehicle_status update (#12364)

PX4 · Jun 29, 2019 · 4b778fd · 4b778fd
1 parent 5857cf4
commit 4b778fd
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Showing 2 changed files with 1 addition and 13 deletions.
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
@@ -387,7 +387,6 @@ class Navigator : public ModuleBase<Navigator>, public ModuleParams
 
 	// update subscriptions
 	void		params_update();
-	void		vehicle_status_update();
 
 	/**
 	 * Publish a new position setpoint triplet for position controllers

diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
@@ -116,15 +116,6 @@ Navigator::~Navigator()
 	orb_unsubscribe(_local_pos_sub);
 }
 
-void
-Navigator::vehicle_status_update()
-{
-	if (_vstatus_sub.update(&_vstatus)) {
-		/* in case the commander is not be running */
-		_vstatus.arming_state = vehicle_status_s::ARMING_STATE_STANDBY;
-	}
-}
-
 void
 Navigator::params_update()
 {
@@ -156,8 +147,6 @@ Navigator::run()
 		_geofence.loadFromFile(GEOFENCE_FILENAME);
 	}
 
-	/* copy all topics first time */
-	vehicle_status_update();
 	params_update();
 
 	/* wakeup source(s) */
@@ -218,7 +207,7 @@ Navigator::run()
 			params_update();
 		}
 
-		vehicle_status_update();
+		_vstatus_sub.update(&_vstatus);
 		_land_detected_sub.update(&_land_detected);
 		_position_controller_status_sub.update();
 		_home_pos_sub.update(&_home_pos);