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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/navigator_main.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/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 0ab85d56e..6a255878b 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -139,6 +139,7 @@ Navigator::Navigator() : _can_loiter_at_sp(false), _pos_sp_triplet_updated(false), _pos_sp_triplet_published_invalid_once(false), + _mission_result_updated(false), _param_loiter_radius(this, "LOITER_RAD"), _param_acceptance_radius(this, "ACC_RAD"), _param_datalinkloss_obc(this, "DLL_OBC"), @@ -491,6 +492,11 @@ Navigator::task_main() _pos_sp_triplet_updated = false; } + if (_mission_result_updated) { + publish_mission_result(); + _mission_result_updated = false; + } + perf_end(_loop_perf); } warnx("exiting."); |