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AP_GPS: check delay_ok in one place

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This commit is contained in:
Peter Barker 2023-06-24 11:25:55 +10:00 committed by Peter Barker
parent 2951cf0155
commit 5664c0a142
1 changed files with 5 additions and 2 deletions
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7
libraries/AP_GPS/AP_GPS.cpp
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@ -2123,14 +2123,17 @@ bool AP_GPS::is_healthy(uint8_t instance) const
bool delay_ok = (t.delayed_count < delay_threshold) &&
t.average_delta_ms < delay_avg_max &&
state[instance].lagged_sample_count < 5;
if (!delay_ok) {
return false;
}
#if defined(GPS_BLENDED_INSTANCE)
if (instance == GPS_BLENDED_INSTANCE) {
return delay_ok && blend_health_check();
return blend_health_check();
}
#endif
return delay_ok && drivers[instance] != nullptr &&
return drivers[instance] != nullptr &&
drivers[instance]->is_healthy();
#endif // HAL_BUILD_AP_PERIPH
}