dataman: remove obsolete persistence and reset reason

PX4 · Dec 12, 2021 · 986cf28 · 986cf28
1 parent ad1bfb5
commit 986cf28
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Showing 10 changed files with 61 additions and 287 deletions.
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
@@ -705,9 +705,6 @@ Commander::Commander() :
 
 	// default for vtol is rotary wing
 	_vtol_status.vtol_in_rw_mode = true;
-
-	/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
-	mission_init();
 }
 
 bool
@@ -3401,31 +3398,6 @@ void Commander::enable_hil()
 	_status.hil_state = vehicle_status_s::HIL_STATE_ON;
 }
 
-void Commander::mission_init()
-{
-	/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
-	mission_s mission;
-
-	if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
-		if (mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 || mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1) {
-			if (mission.count > 0) {
-				PX4_INFO("Mission #%" PRIu8 " loaded, %" PRIu16 " WPs, curr: %" PRId32, mission.dataman_id, mission.count,
-					 mission.current_seq);
-			}
-
-		} else {
-			PX4_ERR("reading mission state failed");
-
-			/* initialize mission state in dataman */
-			mission.timestamp = hrt_absolute_time();
-			mission.dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0;
-			dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
-		}
-
-		_mission_pub.publish(mission);
-	}
-}
-
 void Commander::data_link_check()
 {
 	for (auto &telemetry_status :  _telemetry_status_subs) {

diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
@@ -72,7 +72,6 @@
 #include <uORB/topics/geofence_result.h>
 #include <uORB/topics/iridiumsbd_status.h>
 #include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/mission.h>
 #include <uORB/topics/mission_result.h>
 #include <uORB/topics/offboard_control_mode.h>
 #include <uORB/topics/parameter_update.h>
@@ -154,8 +153,6 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 
 	void executeActionRequest(const action_request_s &action_request);
 
-	void mission_init();
-
 	void offboard_control_update();
 
 	void print_reject_mode(uint8_t main_state);
@@ -444,7 +441,6 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 	uORB::Publication<vehicle_control_mode_s>		_control_mode_pub{ORB_ID(vehicle_control_mode)};
 	uORB::Publication<vehicle_status_flags_s>		_vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
 	uORB::Publication<vehicle_status_s>			_status_pub{ORB_ID(vehicle_status)};
-	uORB::Publication<mission_s>				_mission_pub{ORB_ID(mission)};
 
 	uORB::PublicationData<home_position_s>			_home_pub{ORB_ID(home_position)};