From 0ae1737e85d3957a9717ac2842bcb39d2bcfd235 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 27 Dec 2017 19:31:40 +0100 Subject: [PATCH] Commander: Fix HITL state initialization that prevented pre-flight checks to pass in HITL mode on v1.7.2 This is a minor change that fixes the ordering of the initialization. --- src/modules/commander/commander.cpp | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 53801eadb7..ded6e6a9d9 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1258,11 +1258,6 @@ Commander::run() // XXX for now just set sensors as initialized status_flags.condition_system_sensors_initialized = true; - /* vehicle status topic */ - status = {}; - - status.hil_state = vehicle_status_s::HIL_STATE_OFF; - /* set parameters */ param_t _param_sys_type = param_find("MAV_TYPE"); param_t _param_system_id = param_find("MAV_SYS_ID"); @@ -4541,6 +4536,9 @@ Commander *Commander::instantiate(int argc, char *argv[]) { Commander *instance = new Commander(); + // XXX remove this once this is a class member + status = {}; + if (instance) { if (argc >= 2 && !strcmp(argv[1], "--hil")) { instance->enable_hil(); @@ -4552,5 +4550,5 @@ Commander *Commander::instantiate(int argc, char *argv[]) void Commander::enable_hil() { - status.hil_state = vehicle_status_s::HIL_STATE_OFF; + status.hil_state = vehicle_status_s::HIL_STATE_ON; };