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commander: take previous main state out of status

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Julian Oes
2016-02-25 08:11:57 +00:00
parent 181eb49da8
commit 141b984d5b
4 changed files with 51 additions and 50 deletions
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4
src/modules/commander/state_machine_helper.cpp
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@@ -339,7 +339,7 @@ bool is_safe(const struct vehicle_status_s *status, const struct safety_s *safet
}
transition_result_t
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state)
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev)
{
transition_result_t ret = TRANSITION_DENIED;
@@ -403,7 +403,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
}
if (ret == TRANSITION_CHANGED) {
if (status->main_state != new_main_state) {
status->main_state_prev = status->main_state;
main_state_prev = status->main_state;
status->main_state = new_main_state;
} else {
ret = TRANSITION_NOT_CHANGED;