From 2eb9fb9ed6e43acd1fb1af2b0405cf59feff2d4c Mon Sep 17 00:00:00 2001
From: Claudio Micheli <claudio@auterion.com>
Date: Thu, 8 Aug 2019 17:36:57 +0200
Subject: [PATCH] Commander: move esc_status as local variable.

Signed-off-by: Claudio Micheli <claudio@auterion.com>
---
 msg/vehicle_status_flags.msg        | 1 -
 src/modules/commander/Commander.cpp | 7 ++++---
 src/modules/commander/Commander.hpp | 3 ++-
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg
index 69ef47e47d..a5dd3dec1e 100644
--- a/msg/vehicle_status_flags.msg
+++ b/msg/vehicle_status_flags.msg
@@ -22,7 +22,6 @@ bool circuit_breaker_engaged_gpsfailure_check
 bool circuit_breaker_flight_termination_disabled
 bool circuit_breaker_engaged_usb_check
 bool circuit_breaker_engaged_posfailure_check	# set to true when the position valid checks have been disabled
-bool circuit_breaker_engaged_escs_check
 
 bool offboard_control_signal_found_once
 bool offboard_control_signal_lost
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 4f9024d81c..0cb335f3ba 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -150,7 +150,6 @@ static uint8_t _last_sp_man_arm_switch = 0;
 
 static struct vtol_vehicle_status_s vtol_status = {};
 static struct cpuload_s cpuload = {};
-static struct esc_status_s esc_status = {};
 
 static bool last_overload = false;
 
@@ -1624,8 +1623,10 @@ Commander::run()
 
 		if (esc_status_sub.updated()) {
 			/* ESCs status changed */
+			esc_status_s esc_status = {};
+
 			esc_status_sub.copy(&esc_status);
-			esc_status_check();
+			esc_status_check(esc_status);
 		}
 
 		estimator_check(&status_changed);
@@ -4366,7 +4367,7 @@ Commander::offboard_control_update(bool &status_changed)
 
 }
 
-void Commander::esc_status_check()
+void Commander::esc_status_check(const esc_status_s &esc_status)
 {
 	char esc_fail_msg[50];
 	esc_fail_msg[0] = '\0';
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index f1d9bbf954..0c00870a0d 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -65,6 +65,7 @@
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/esc_status.h>
 
 using math::constrain;
 
@@ -217,7 +218,7 @@ private:
 
 	void battery_status_check();
 
-	void esc_status_check();
+	void esc_status_check(const esc_status_s &esc_status);
 
 	/**
 	 * Checks the status of all available data links and handles switching between different system telemetry states.