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Blimp: use check_enabked hepler to always check if all bit is set

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Iampete1 2023-01-21 13:30:08 +00:00 committed by Andrew Tridgell
parent e35b52c0be
commit 31ba715616
1 changed files with 5 additions and 5 deletions
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10
Blimp/AP_Arming.cpp
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@ -45,7 +45,7 @@ bool AP_Arming_Blimp::barometer_checks(bool display_failure)
bool ret = true; bool ret = true;
// check Baro // check Baro
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_BARO)) { if (check_enabled(ARMING_CHECK_BARO)) {
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode. // Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height // Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
// that may differ from the baro height due to baro drift. // that may differ from the baro height due to baro drift.
@ -65,7 +65,7 @@ bool AP_Arming_Blimp::ins_checks(bool display_failure)
{ {
bool ret = AP_Arming::ins_checks(display_failure); bool ret = AP_Arming::ins_checks(display_failure);
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) { if (check_enabled(ARMING_CHECK_INS)) {
// get ekf attitude (if bad, it's usually the gyro biases) // get ekf attitude (if bad, it's usually the gyro biases)
if (!pre_arm_ekf_attitude_check()) { if (!pre_arm_ekf_attitude_check()) {
@ -84,7 +84,7 @@ bool AP_Arming_Blimp::board_voltage_checks(bool display_failure)
} }
// check battery voltage // check battery voltage
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) { if (check_enabled(ARMING_CHECK_VOLTAGE)) {
if (blimp.battery.has_failsafed()) { if (blimp.battery.has_failsafed()) {
check_failed(ARMING_CHECK_VOLTAGE, display_failure, "Battery failsafe"); check_failed(ARMING_CHECK_VOLTAGE, display_failure, "Battery failsafe");
return false; return false;
@ -102,7 +102,7 @@ bool AP_Arming_Blimp::board_voltage_checks(bool display_failure)
bool AP_Arming_Blimp::parameter_checks(bool display_failure) bool AP_Arming_Blimp::parameter_checks(bool display_failure)
{ {
// check various parameter values // check various parameter values
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) { if (check_enabled(ARMING_CHECK_PARAMETERS)) {
// failsafe parameter checks // failsafe parameter checks
if (blimp.g.failsafe_throttle) { if (blimp.g.failsafe_throttle) {
@ -159,7 +159,7 @@ bool AP_Arming_Blimp::gps_checks(bool display_failure)
} }
// return true immediately if gps check is disabled // return true immediately if gps check is disabled
if (!(checks_to_perform == ARMING_CHECK_ALL || checks_to_perform & ARMING_CHECK_GPS)) { if (!check_enabled(ARMING_CHECK_GPS)) {
AP_Notify::flags.pre_arm_gps_check = true; AP_Notify::flags.pre_arm_gps_check = true;
return true; return true;
} }