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commander delete unused main_state_prev

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This commit is contained in:
Daniel Agar
2018-03-27 15:35:55 -04:00
parent c194c1acb5
commit 8c8fe17ff3
4 changed files with 76 additions and 83 deletions
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6
src/modules/commander/state_machine_helper.cpp
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@@ -393,7 +393,7 @@ bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed
}
transition_result_t
main_state_transition(const vehicle_status_s& status, const main_state_t new_main_state, uint8_t &main_state_prev, const vehicle_status_flags_s& status_flags, commander_state_s *internal_state)
main_state_transition(const vehicle_status_s& status, const main_state_t new_main_state, const vehicle_status_flags_s& status_flags, commander_state_s *internal_state)
{
// IMPORTANT: The assumption of callers of this function is that the execution of
// this check if essentially "free". Therefore any runtime checking in here has to be
@@ -505,7 +505,6 @@ main_state_transition(const vehicle_status_s& status, const main_state_t new_mai
if (ret == TRANSITION_CHANGED) {
if (internal_state->main_state != new_main_state) {
main_state_prev = internal_state->main_state;
internal_state->main_state = new_main_state;
internal_state->timestamp = hrt_absolute_time();
@@ -1042,8 +1041,7 @@ void set_link_loss_nav_state(vehicle_status_s *status,
} else if (link_loss_act == link_loss_actions_t::AUTO_RTL
&& status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
uint8_t main_state_prev = 0;
main_state_transition(*status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, *status_flags, internal_state);
main_state_transition(*status, commander_state_s::MAIN_STATE_AUTO_RTL, *status_flags, internal_state);
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (link_loss_act == link_loss_actions_t::AUTO_LAND && status_flags->condition_local_position_valid) {