commander: fix mission topic publication

The local scope caused the topic to be unadvertised, which in turn caused a copy() failure in navigator and 'mission update failed' printf error.
PX4 · Jan 22, 2020 · db36edf · db36edf
1 parent c61e44f
commit db36edf
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
@@ -81,7 +81,6 @@
 #include <cstring>
 
 #include <uORB/topics/mavlink_log.h>
-#include <uORB/topics/mission.h>
 
 typedef enum VEHICLE_MODE_FLAG {
 	VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
@@ -3500,7 +3499,7 @@ void Commander::enable_hil()
 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{};
+	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) {
@@ -3517,8 +3516,7 @@ void Commander::mission_init()
 			dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
 		}
 
-		uORB::Publication<mission_s> mission_pub{ORB_ID(mission)};
-		mission_pub.publish(mission);
+		_mission_pub.publish(mission);
 	}
 }
 

diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
@@ -66,6 +66,7 @@
 #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>
@@ -403,6 +404,7 @@ 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)};