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| author | Ban Siesta <bansiesta@gmail.com> | 2014-12-19 23:36:32 +0000 |
|---|---|---|
| committer | Ban Siesta <bansiesta@gmail.com> | 2014-12-19 23:36:32 +0000 |
| commit | f0ff914b626fbfb497143f80b19376efb524b9e1 (patch) | |
| tree | 5f59df961ca8d8d3c196f79d64e635e6ba9fef23 /src/modules/navigator/datalinkloss.cpp | |
| parent | c9ca61ef5b23a370fcaf3e2a0546ab5452b65733 (diff) | |
| download | px4-firmware-f0ff914b626fbfb497143f80b19376efb524b9e1.tar.gz px4-firmware-f0ff914b626fbfb497143f80b19376efb524b9e1.tar.bz2 px4-firmware-f0ff914b626fbfb497143f80b19376efb524b9e1.zip | |
navigator: don't publish mission result immediately but only after every iteration of the navigator
Diffstat (limited to 'src/modules/navigator/datalinkloss.cpp')
| -rw-r--r-- | src/modules/navigator/datalinkloss.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp index e789fd10d..87a6e023a 100644 --- a/src/modules/navigator/datalinkloss.cpp +++ b/src/modules/navigator/datalinkloss.cpp @@ -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: |