rover: fix setpoint generation

chfriedrich98 · chfriedrich98 · commit 8e5cd5950253 · 2025-08-21T13:33:19.000+02:00
diff --git a/src/modules/rover_ackermann/RoverAckermann.cpp b/src/modules/rover_ackermann/RoverAckermann.cpp
@@ -97,7 +97,7 @@ void RoverAckermann::Run()
 void RoverAckermann::generateSetpoints()
 {
 	vehicle_status_s vehicle_status{};
-	_vehicle_status_sub.update(&vehicle_status);
+	_vehicle_status_sub.copy(&vehicle_status);
 
 	switch (vehicle_status.nav_state) {
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
diff --git a/src/modules/rover_differential/RoverDifferential.cpp b/src/modules/rover_differential/RoverDifferential.cpp
@@ -98,7 +98,7 @@ void RoverDifferential::Run()
 void RoverDifferential::generateSetpoints()
 {
 	vehicle_status_s vehicle_status{};
-	_vehicle_status_sub.update(&vehicle_status);
+	_vehicle_status_sub.copy(&vehicle_status);
 
 	switch (vehicle_status.nav_state) {
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
diff --git a/src/modules/rover_mecanum/RoverMecanum.cpp b/src/modules/rover_mecanum/RoverMecanum.cpp
@@ -98,7 +98,7 @@ void RoverMecanum::Run()
 void RoverMecanum::generateSetpoints()
 {
 	vehicle_status_s vehicle_status{};
-	_vehicle_status_sub.update(&vehicle_status);
+	_vehicle_status_sub.copy(&vehicle_status);
 
 	switch (vehicle_status.nav_state) {
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:

Original file line number	Diff line number	Diff line change
`@@ -97,7 +97,7 @@ void RoverAckermann::Run()`
`97`	`97`	`void RoverAckermann::generateSetpoints()`
`98`	`98`	`{`
`99`	`99`	`vehicle_status_s vehicle_status{};`
`100`		`- _vehicle_status_sub.update(&vehicle_status);`
	`100`	`+ _vehicle_status_sub.copy(&vehicle_status);`
`101`	`101`
`102`	`102`	`switch (vehicle_status.nav_state) {`
`103`	`103`	`case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:`
Original file line number	Diff line number	Diff line change
`@@ -98,7 +98,7 @@ void RoverDifferential::Run()`
`98`	`98`	`void RoverDifferential::generateSetpoints()`
`99`	`99`	`{`
`100`	`100`	`vehicle_status_s vehicle_status{};`
`101`		`- _vehicle_status_sub.update(&vehicle_status);`
	`101`	`+ _vehicle_status_sub.copy(&vehicle_status);`
`102`	`102`
`103`	`103`	`switch (vehicle_status.nav_state) {`
`104`	`104`	`case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:`
Original file line number	Diff line number	Diff line change
`@@ -98,7 +98,7 @@ void RoverMecanum::Run()`
`98`	`98`	`void RoverMecanum::generateSetpoints()`
`99`	`99`	`{`
`100`	`100`	`vehicle_status_s vehicle_status{};`
`101`		`- _vehicle_status_sub.update(&vehicle_status);`
	`101`	`+ _vehicle_status_sub.copy(&vehicle_status);`
`102`	`102`
`103`	`103`	`switch (vehicle_status.nav_state) {`
`104`	`104`	`case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:`