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Commander: move first preflight check run to constructor

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This commit is contained in:
Matthias Grob
2022-06-13 11:25:07 +02:00
committed by Daniel Agar
parent 0f41a5e385
commit aa575d6af0
1 changed files with 4 additions and 4 deletions
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src/modules/commander/Commander.cpp
+4 -4
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@@ -853,6 +853,10 @@ Commander::Commander() :
_param_rc_map_fltmode = param_find("RC_MAP_FLTMODE"); _param_rc_map_fltmode = param_find("RC_MAP_FLTMODE");
updateParameters(); updateParameters();
// run preflight immediately to find all relevant parameters, but don't report
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _vehicle_status, _vehicle_status_flags, _vehicle_control_mode,
false, true, hrt_elapsed_time(&_boot_timestamp));
} }
Commander::~Commander() Commander::~Commander()
@@ -2189,10 +2193,6 @@ Commander::run()
arm_auth_init(&_mavlink_log_pub, &_vehicle_status.system_id); arm_auth_init(&_mavlink_log_pub, &_vehicle_status.system_id);
// run preflight immediately to find all relevant parameters, but don't report
PreFlightCheck::preflightCheck(&_mavlink_log_pub, _vehicle_status, _vehicle_status_flags, _vehicle_control_mode,
false, true, hrt_elapsed_time(&_boot_timestamp));
while (!should_exit()) { while (!should_exit()) {
perf_begin(_loop_perf); perf_begin(_loop_perf);