Mirrors_Framework/PX4-Autopilot
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refactor(control_allocator): do not report .copy() failure

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Having a specific error string for these was overkill. Instead we match
the existing pattern:
 - initialise struct with {} to fill fields with default
 - .copy() without watching return code
This commit is contained in:
Balduin
2026-05-07 11:20:25 +02:00
parent 839e852281
commit 19b82baa33
1 changed files with 8 additions and 14 deletions
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src/modules/control_allocator/ActuatorGroupPreflightCheck.cpp
+8 -14
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@@ -77,21 +77,12 @@ const char *ActuatorGroupPreflightCheck::validateCommand(uint8_t group, bool is_
// Genuine internal failure: we could not read the state we need
ack_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED;
actuator_armed_s actuator_armed;
if (!_armed_sub.copy(&actuator_armed)) {
return "failed to read armed state";
}
vehicle_land_detected_s vehicle_land_detected;
if (!_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
return "failed to read landed state";
}
// Transient: arming state mismatch. The user can change it and retry.
ack_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
actuator_armed_s actuator_armed{};
_armed_sub.copy(&actuator_armed);
if (isThrust(group)) {
if (!actuator_armed.armed) {
@@ -110,6 +101,9 @@ const char *ActuatorGroupPreflightCheck::validateCommand(uint8_t group, bool is_
}
// Transient: landed state mismatch
vehicle_land_detected_s vehicle_land_detected{};
_vehicle_land_detected_sub.copy(&vehicle_land_detected);
if (!vehicle_land_detected.landed) {
return "not landed";
}
@@ -160,8 +154,8 @@ void ActuatorGroupPreflightCheck::updateState(hrt_abstime now)
{
if (!_running) { return; }
actuator_armed_s actuator_armed;
vehicle_land_detected_s vehicle_land_detected;
actuator_armed_s actuator_armed{};
vehicle_land_detected_s vehicle_land_detected{};
if (_armed_sub.copy(&actuator_armed) && _vehicle_land_detected_sub.copy(&vehicle_land_detected)) {