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Commander: Check for preflight errors in order

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Lorenz Meier
2017-12-31 15:59:27 +01:00
parent c06251f3be
commit 074636a8ae
1 changed files with 2 additions and 2 deletions
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4
src/modules/commander/PreflightCheck.cpp
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@@ -757,7 +757,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
/* ---- IMU CONSISTENCY ---- */
if (checkSensors) {
if (!imuConsistencyCheck(mavlink_log_pub, reportFailures)) {
if (!imuConsistencyCheck(mavlink_log_pub, (reportFailures && !failed))) {
failed = true;
}
}
@@ -795,7 +795,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
// don't report ekf failures for the first 10 seconds to allow time for the filter to start
bool report_ekf_fail = (time_since_boot > 10 * 1000000);
if (!ekf2Check(mavlink_log_pub, true, report_ekf_fail, checkGNSS)) {
if (!ekf2Check(mavlink_log_pub, true, (report_ekf_fail && !failed), checkGNSS)) {
failed = true;
}
}