yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

PreflightCheck: refactor failureDetectorCheck return value

Browse Source
This commit is contained in:
Matthias Grob
2019-10-08 15:55:32 +02:00
committed by Beat Küng
parent 8e0ee88e0a
commit 63f2c009c7
1 changed files with 4 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
src/modules/commander/PreflightCheck.cpp
View File

@@ -665,17 +665,12 @@ out:
static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const bool report_fail,
const bool prearm)
{
bool success = true;
// Ignore failure detector check after arming
if (!prearm) {
// Ignore failure detector check after arming.
return true;
}
if (status.failure_detector_status != vehicle_status_s::FAILURE_NONE) {
success = false;
if (report_fail) {
if (status.failure_detector_status & vehicle_status_s::FAILURE_ROLL) {
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Roll failure detected");
@@ -689,9 +684,11 @@ static bool failureDetectorCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Altitude failure detected");
}
}
return false;
}
return success;
return true;
}
bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, vehicle_status_flags_s &status_flags,