Final parameter interface cleanup - removed last bit of old cruft, fixed a bug on parameter update notification, cleaned up API slightly in naming

2 files changed, 19 insertions, 16 deletions

diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index e2d197648..352cf68f6 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -125,8 +125,8 @@ static void led_deinit(void);
 static int led_toggle(int led);
 static int led_on(int led);
 static int led_off(int led);
-static void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status);
-static void do_mag_calibration(int status_pub, struct vehicle_status_s *current_status);
+static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status);
+static void do_mag_calibration(int status_pub, struct vehicle_status_s *status);
 static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd);
 
 int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state);
@@ -444,7 +444,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	close(sub_sensor_combined);
 }
 
-void do_gyro_calibration(int status_pub, struct vehicle_status_s *current_status)
+void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 {
 	const int calibration_count = 3000;
 
@@ -942,13 +942,13 @@ int commander_thread_main(int argc, char *argv[])
 				led_toggle(LED_AMBER);
 
 			} else {
-				/* Constant error indication in standby mode without GPS */
-				if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR && !current_status.gps_valid) {
-					led_on(LED_AMBER);
+				// /* Constant error indication in standby mode without GPS */
+				// if (!current_status.gps_valid) {
+				// 	led_on(LED_AMBER);
 
-				} else {
-					led_off(LED_AMBER);
-				}
+				// } else {
+				// 	led_off(LED_AMBER);
+				// }
 			}
 
 			if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index 8abf427f7..462406648 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -39,7 +39,7 @@
  */
 
 #include <stdio.h>
-#include "state_machine_helper.h"
+#include <unistd.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
@@ -47,6 +47,8 @@
 #include <arch/board/up_hrt.h>
 #include <mavlink/mavlink_log.h>
 
+#include "state_machine_helper.h"
+
 static const char* system_state_txt[] = {
 	"SYSTEM_STATE_PREFLIGHT",
 	"SYSTEM_STATE_STANDBY",
@@ -75,14 +77,12 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 	switch (new_state) {
 	case SYSTEM_STATE_MISSION_ABORT: {
 			/* Indoor or outdoor */
-			uint8_t flight_environment_parameter = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
-
-			if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
+			// if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
 				ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING);
 
-			} else {
-				ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
-			}
+			// } else {
+			// 	ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
+			// }
 		}
 		break;
 
@@ -198,10 +198,13 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 	if (invalid_state == false || old_state != new_state) {
 		current_status->state_machine = new_state;
 		state_machine_publish(status_pub, current_status, mavlink_fd);
+		ret = OK;
 	}
 	if (invalid_state) {
 		mavlink_log_critical(mavlink_fd, "[commander] REJECTING invalid state transition");
+		ret = ERROR;
 	}
+	return ret;
 }
 
 void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) {