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commander: Changes following code review

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This commit is contained in:
Paul Riseborough
2017-04-22 08:15:24 +10:00
committed by Lorenz Meier
parent 57de9eccf5
commit 8421ad3dfd
2 changed files with 47 additions and 44 deletions
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10
src/modules/commander/PreflightCheck.cpp
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@@ -493,7 +493,7 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
// If GPS aiding is required, declare fault condition if the EKF is not using GPS
if (enforce_gps_required) {
if (!(status.control_mode_flags & 2)) {
if (!(status.control_mode_flags & (1<<2))) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: EKF NOT USING GPS");
}
@@ -504,10 +504,10 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_
// If GPS aiding is required, declare fault condition if the required GPS quality checks are failing
if (enforce_gps_required) {
if ((status.gps_check_fail_flags & (estimator_status_s::GPS_CHECK_FAIL_MIN_SAT_COUNT
| estimator_status_s::GPS_CHECK_FAIL_MIN_GDOP
| estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_ERR
| estimator_status_s::GPS_CHECK_FAIL_MAX_VERT_ERR)) > 0) {
if ((status.gps_check_fail_flags & ((1 << estimator_status_s::GPS_CHECK_FAIL_MIN_SAT_COUNT)
+ (1 << estimator_status_s::GPS_CHECK_FAIL_MIN_GDOP)
+ (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_ERR)
+ (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_VERT_ERR))) > 0) {
if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GPS QUALITY CHECKS");
}