From 0a8a52cf7eef50eb283c97415482c1f1c021b5c3 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 28 Jun 2019 18:38:04 -0400 Subject: [PATCH] navigator fix vehicle_status update --- src/modules/navigator/navigator.h | 1 - src/modules/navigator/navigator_main.cpp | 13 +------------ 2 files changed, 1 insertion(+), 13 deletions(-) diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index ad5d3e7aafa0..7643b2cad24e 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -387,7 +387,6 @@ class Navigator : public ModuleBase, 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 index f392b9488403..45ce495ce65a 100644 --- 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);