From 4eb930f704018253a4cff3604cb9faee8468283b Mon Sep 17 00:00:00 2001 From: Steven Blass Date: Tue, 18 Nov 2014 08:26:29 -0500 Subject: improved readability of offboard fixes --- src/modules/navigator/navigator_main.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'src/modules/navigator/navigator_main.cpp') diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 5e9806499..035b0d18c 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -137,6 +137,7 @@ Navigator::Navigator() : _gpsFailure(this, "GPSF"), _can_loiter_at_sp(false), _pos_sp_triplet_updated(false), + _pos_sp_triplet_published_invalid_once(false), _param_loiter_radius(this, "LOITER_RAD"), _param_acceptance_radius(this, "ACC_RAD"), _param_datalinkloss_obc(this, "DLL_OBC"), @@ -469,9 +470,8 @@ Navigator::task_main() } /* if nothing is running, set position setpoint triplet invalid once */ - static bool published_once = false; - if (_navigation_mode == nullptr && !published_once) { - published_once = true; + if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) { + _pos_sp_triplet_published_invalid_once = true; _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; -- cgit v1.2.3