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commander: Keep vehicle_command_ack_s local

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No need to keep this struct as global or alive while looping.
This commit is contained in:
José Roberto de Souza
2017-06-23 13:48:54 -07:00
committed by Lorenz Meier
parent 7082cc13e0
commit 89a428fbfe
2 changed files with 34 additions and 39 deletions
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5
src/modules/mavlink/mavlink_main.cpp
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@@ -1996,17 +1996,15 @@ Mavlink::task_main(int argc, char *argv[])
MavlinkOrbSubscription *status_sub = add_orb_subscription(ORB_ID(vehicle_status));
uint64_t status_time = 0;
MavlinkOrbSubscription *ack_sub = add_orb_subscription(ORB_ID(vehicle_command_ack));
uint64_t ack_time = 0;
/* We don't want to miss the first advertise of an ACK, so we subscribe from the
* beginning and not just when the topic exists. */
ack_sub->subscribe_from_beginning(true);
uint64_t ack_time = 0;
MavlinkOrbSubscription *mavlink_log_sub = add_orb_subscription(ORB_ID(mavlink_log));
struct vehicle_status_s status;
status_sub->update(&status_time, &status);
struct vehicle_command_ack_s command_ack;
ack_sub->update(&ack_time, &command_ack);
/* add default streams depending on mode */
@@ -2202,6 +2200,7 @@ Mavlink::task_main(int argc, char *argv[])
/* send command ACK */
uint16_t current_command_ack = 0;
struct vehicle_command_ack_s command_ack = {};
if (ack_sub->update(&ack_time, &command_ack)) {
mavlink_command_ack_t msg;