Do not check if user started mavsdk

It is now up to the user to check if mavsdk has been started before calling
commands.

mavsdk_wrapper.cpp

@@ -44,7 +44,6 @@ static const float ADDED_DISTANCE = (2 * DEFAULT_RADIUS) / EARTH_RADIUS;
 static const double COS_ADDED_DISTANCE = cos(ADDED_DISTANCE);
 static const double SIN_ADDED_DISTANCE = sin(ADDED_DISTANCE);
 
-static int mavsdk_started = 0;
 static Telemetry::Position origin;
 static int64_t current_position[POSITION_ARRAY_SIZE] = {0};
 static int64_t timestamp_difference = 0;
@@ -76,11 +75,6 @@ static void log_error_from_result(std::string message, Enumeration result) {
 // Action functions
 
 static int doAction(Action::Result (Action::*toDo)(void) const, std::string failure_message) {
-    if(!mavsdk_started) {
-        log_error("Mavsdk not started");
-        return -1;
-    }
-
     const Action::Result result = (action->*toDo)();
     if(result != Action::Result::Success) {
         log_error_from_result(failure_message, result);
@@ -144,9 +138,6 @@ static Coordinates getProjectionCoordinates(Coordinates destination, Coordinates
 }
 
 static int doReposition(float la, float lo, float radius, float y) {
-    if (!mavsdk_started)
-        return -1;
-
     MavlinkPassthrough::CommandLong command;
     command.command = MAV_CMD_DO_REPOSITION;
     command.param1 = -1; // Ground speed, -1 for default
@@ -184,9 +175,6 @@ static long long int getTimestamp() {
 }
 
 static int doOverride(float altitude, float airspeed, const char* failure_msg) {
-    if (!mavsdk_started)
-        return -1;
-
     MavlinkPassthrough::CommandLong command;
     command.command = MAV_CMD_DO_OVERRIDE;
     command.param1 = 1 | 2 | 4 | 8;
@@ -209,28 +197,26 @@ void updateLogAndProjection(void) {
     std::ostringstream oss;
     Telemetry::FixedwingMetrics metrics;
 
-    if(mavsdk_started) {
-        metrics = telemetry->fixedwing_metrics();
-        oss << current_position[TIMESTAMP] << ";"
-            << current_position[LATITUDE] << ";"
-            << current_position[LONGITUDE] << ";"
-            << current_position[ABS_ALTITUDE] << ";"
-            << current_position[REL_ALTITUDE] << ";"
-            << telemetry->attitude_euler().yaw_deg << ";"
-            << metrics.airspeed_m_s << ";" << metrics.climb_rate_m_s;
-        log(oss.str());
-
-        if (do_projection) {
-            updateProjection(current_position[LATITUDE],
-                             current_position[LONGITUDE]);
-        } else {
-          doReposition_async(
-              (float)targeted_destination.latitude,
-              (float)targeted_destination.longitude,
-              targeted_radius,
-              0
-          );
-        }
+    metrics = telemetry->fixedwing_metrics();
+    oss << current_position[TIMESTAMP] << ";"
+        << current_position[LATITUDE] << ";"
+        << current_position[LONGITUDE] << ";"
+        << current_position[ABS_ALTITUDE] << ";"
+        << current_position[REL_ALTITUDE] << ";"
+        << telemetry->attitude_euler().yaw_deg << ";"
+        << metrics.airspeed_m_s << ";" << metrics.climb_rate_m_s;
+    log(oss.str());
+
+    if (do_projection) {
+        updateProjection(current_position[LATITUDE],
+                         current_position[LONGITUDE]);
+    } else {
+      doReposition_async(
+          (float)targeted_destination.latitude,
+          (float)targeted_destination.longitude,
+          targeted_radius,
+          0
+      );
     }
 }
 
@@ -302,8 +288,6 @@ int start(const char * ip, int port, const char * log_file, int timeout) {
 
     origin = telemetry->position();
 
-    log("MAVSDK started...");
-    mavsdk_started = 1;
     log("timestamp (ms);latitude (°E7);longitude (°E7);AMSL (mm);rel altitude (mm);yaw (°);air speed (m/s);climb rate (m/s)");
 
     return 0;
@@ -328,9 +312,6 @@ int reboot() {
 // Flight state management functions
 
 int arm(void) {
-    if(!mavsdk_started)
-        return -1;
-
     if (telemetry->armed()) {
       return 0;
     }
@@ -350,9 +331,6 @@ int takeOff(void) {
 }
 
 int triggerParachute(void) {
-    if (!mavsdk_started)
-        return -1;
-
     log("Landing...");
     MavlinkPassthrough::CommandLong command;
     command.command = MAV_CMD_DO_PARACHUTE;
@@ -378,11 +356,6 @@ void loiter(double latitude, double longitude, float altitude,
 
 void setTargetCoordinates(double latitude, double longitude, float altitude,
                           float speed) {
-    if (!mavsdk_started) {
-        log_error("Mavsdk not started");
-        return;
-    }
-
     targeted_destination.latitude = latitude;
     targeted_destination.longitude = longitude;
     do_projection = true;