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commander: fix excessive orb_advertise calls for vehicle_status_flags 

vehicle_status_flags_pub passed to publish_status_flags() was always null,
thus orb_advertise() was called each time.

Note that it did not produce a memory leak.
This commit is contained in:
Beat Küng 2017-03-03 09:15:06 +01:00 committed by Lorenz Meier
parent b2d47adf56
commit 54c8e3b26b
1 changed files with 4 additions and 4 deletions
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8
src/modules/commander/commander.cpp
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@ -298,11 +298,11 @@ static void commander_set_home_position(orb_advert_t &homePub, home_position_s &
*/
void *commander_low_prio_loop(void *arg);
void answer_command(struct vehicle_command_s &cmd, unsigned result,
static void answer_command(struct vehicle_command_s &cmd, unsigned result,
orb_advert_t &command_ack_pub, vehicle_command_ack_s &command_ack);
/* publish vehicle status flags from the global variable status_flags*/
void publish_status_flags(orb_advert_t vehicle_status_flags_pub);
static void publish_status_flags(orb_advert_t &vehicle_status_flags_pub);
/**
* check whether autostart ID is in the reserved range for HIL setups
@ -4295,7 +4295,7 @@ void *commander_low_prio_loop(void *arg)
return nullptr;
}
void publish_status_flags(orb_advert_t vehicle_status_flags_pub){
void publish_status_flags(orb_advert_t &vehicle_status_flags_pub) {
struct vehicle_status_flags_s v_flags;
memset(&v_flags, 0, sizeof(v_flags));
/* set condition status flags */
@ -4412,7 +4412,7 @@ void publish_status_flags(orb_advert_t vehicle_status_flags_pub){
/* publish vehicle_status_flags */
if (vehicle_status_flags_pub != nullptr) {
orb_publish(ORB_ID(vehicle_status_flags), vehicle_status_flags_pub, &v_flags);
}else{
} else {
vehicle_status_flags_pub = orb_advertise(ORB_ID(vehicle_status_flags), &v_flags);
}
}