FailureDetector: simplify updated/changed check

src/modules/commander/Commander.cpp

@@ -2235,12 +2235,8 @@ Commander::run()
 
 		/* Check for failure detector status */
 		if (_failure_detector.update(status)) {
-			const uint8_t failure_status = _failure_detector.getStatus();
+			status.failure_detector_status = _failure_detector.getStatus();
-
+			_status_changed = true;
-			if (failure_status != status.failure_detector_status) {
-				status.failure_detector_status = failure_status;
-				_status_changed = true;
-			}
 
 			if (armed.armed && _failure_detector.isFailure()) {
 				const hrt_abstime time_at_arm = armed.armed_time_ms * 1000;

src/modules/commander/failure_detector/FailureDetector.cpp

@@ -47,50 +47,42 @@ FailureDetector::FailureDetector(ModuleParams *parent) :
 {
 }
 
-bool FailureDetector::resetAttitudeStatus()
+void FailureDetector::resetAttitudeStatus()
 {
-
 	int attitude_fields_bitmask = _status & (FAILURE_ROLL | FAILURE_PITCH | FAILURE_ALT | FAILURE_EXT);
-	bool status_changed(false);
 
 	if (attitude_fields_bitmask > FAILURE_NONE) {
 		_status &= ~attitude_fields_bitmask;
-		status_changed = true;
 	}
-
-	return status_changed;
 }
 
-bool
+bool FailureDetector::update(const vehicle_status_s &vehicle_status)
-FailureDetector::update(const vehicle_status_s &vehicle_status)
 {
-
+	uint8_t previous_status = _status;
-	bool updated(false);
 
 	if (isAttitudeStabilized(vehicle_status)) {
-		updated |= updateAttitudeStatus();
+		updateAttitudeStatus();
 
 		if (_param_fd_ext_ats_en.get()) {
-			updated |= updateExternalAtsStatus();
+			updateExternalAtsStatus();
 		}
 
 	} else {
-		updated |= resetAttitudeStatus();
+		resetAttitudeStatus();
 	}
 
 	if (_esc_status_sub.updated()) {
 
 		if (_param_escs_en.get()) {
-			updated |= updateEscsStatus(vehicle_status);
+			updateEscsStatus(vehicle_status);
 		}
 
 	}
 
-	return updated;
+	return _status != previous_status;
 }
 
-bool
+bool FailureDetector::isAttitudeStabilized(const vehicle_status_s &vehicle_status)
-FailureDetector::isAttitudeStabilized(const vehicle_status_s &vehicle_status)
 {
 	bool attitude_is_stabilized{false};
 	const uint8_t vehicle_type = vehicle_status.vehicle_type;
@@ -109,10 +101,8 @@ FailureDetector::isAttitudeStabilized(const vehicle_status_s &vehicle_status)
 	return attitude_is_stabilized;
 }
 
-bool
+void FailureDetector::updateAttitudeStatus()
-FailureDetector::updateAttitudeStatus()
 {
-	bool updated(false);
 	vehicle_attitude_s attitude;
 
 	if (_vehicule_attitude_sub.update(&attitude)) {
@@ -147,18 +137,12 @@ FailureDetector::updateAttitudeStatus()
 		if (_pitch_failure_hysteresis.get_state()) {
 			_status |= FAILURE_PITCH;
 		}
-
-		updated = true;
 	}
-
-	return updated;
 }
 
-bool
+void FailureDetector::updateExternalAtsStatus()
-FailureDetector::updateExternalAtsStatus()
 {
 	pwm_input_s pwm_input;
-	bool updated(false);
 
 	if (_pwm_input_sub.update(&pwm_input)) {
 
@@ -176,18 +160,12 @@ FailureDetector::updateExternalAtsStatus()
 		if (_ext_ats_failure_hysteresis.get_state()) {
 			_status |= FAILURE_EXT;
 		}
-
-		updated = true;
 	}
-
-	return updated;
 }
 
-bool
+void FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status)
-FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status)
 {
 	hrt_abstime time_now = hrt_absolute_time();
-	bool updated(false);
 
 	if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
 
@@ -201,7 +179,6 @@ FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status)
 
 		if (_esc_failure_hysteresis.get_state() && !(_status & FAILURE_ARM_ESCS)) {
 			_status |= FAILURE_ARM_ESCS;
-			updated = true;
 		}
 
 	} else {
@@ -210,9 +187,6 @@ FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status)
 
 		if (_status & FAILURE_ARM_ESCS) {
 			_status &= ~FAILURE_ARM_ESCS;
-			updated = true;
 		}
 	}
-
-	return updated;
 }

src/modules/commander/failure_detector/FailureDetector.hpp

@@ -79,11 +79,11 @@ public:
 	bool isFailure() const { return _status != FAILURE_NONE; }
 
 private:
-	bool resetAttitudeStatus();
+	void resetAttitudeStatus();
 	bool isAttitudeStabilized(const vehicle_status_s &vehicle_status);
-	bool updateAttitudeStatus();
+	void updateAttitudeStatus();
-	bool updateExternalAtsStatus();
+	void updateExternalAtsStatus();
-	bool updateEscsStatus(const vehicle_status_s &vehicle_status);
+	void updateEscsStatus(const vehicle_status_s &vehicle_status);
 
 	uint8_t _status{FAILURE_NONE};