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Commander: call battery_status_check on update instead of early return

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This commit is contained in:
Matthias Grob
2021-07-01 19:13:43 +02:00
parent 5bec3004c3
commit 5489005e0b
1 changed files with 3 additions and 8 deletions
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src/modules/commander/Commander.cpp
+3 -8
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@@ -2190,7 +2190,9 @@ Commander::run()
_cpuload_sub.update(&_cpuload); _cpuload_sub.update(&_cpuload);
battery_status_check(); if (_battery_status_subs.updated()) {
battery_status_check();
}
/* If in INIT state, try to proceed to STANDBY state */ /* If in INIT state, try to proceed to STANDBY state */
if (!_status_flags.condition_calibration_enabled && _status.arming_state == vehicle_status_s::ARMING_STATE_INIT) { if (!_status_flags.condition_calibration_enabled && _status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
@@ -3604,13 +3606,6 @@ void Commander::avoidance_check()
void Commander::battery_status_check() void Commander::battery_status_check()
{ {
// We need to update the status flag if ANY battery is updated, because the system source might have
// changed, or might be nothing (if there is no battery connected)
if (!_battery_status_subs.updated()) {
// Nothing has changed since the last time this function was called, so nothing needs to be done now.
return;
}
battery_status_s batteries[_battery_status_subs.size()]; battery_status_s batteries[_battery_status_subs.size()];
size_t num_connected_batteries = 0; size_t num_connected_batteries = 0;