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AP_Avoidance: reorder avoiding and sending GCS notification

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handling the avoidance updates the state which indicates what the
vehicle is actually doing, which is what we send to the GCS
This commit is contained in:
Peter Barker 2019-11-06 12:51:48 +11:00 committed by Peter Barker
parent 7e81aa8f64
commit da3bef36fa
1 changed files with 3 additions and 3 deletions
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libraries/AP_Avoidance/AP_Avoidance.cpp
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@ -524,11 +524,11 @@ void AP_Avoidance::update()
check_for_threats(); check_for_threats();
// notify GCS of most serious thread
handle_threat_gcs_notify(most_serious_threat());
// avoid object (if necessary) // avoid object (if necessary)
handle_avoidance_local(most_serious_threat()); handle_avoidance_local(most_serious_threat());
// notify GCS of most serious thread
handle_threat_gcs_notify(most_serious_threat());
} }
void AP_Avoidance::handle_avoidance_local(AP_Avoidance::Obstacle *threat) void AP_Avoidance::handle_avoidance_local(AP_Avoidance::Obstacle *threat)