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Copter: save a few bytes in variance check

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Peter Barker 2024-11-14 20:21:52 +11:00 committed by Randy Mackay
parent b0c31d865e
commit 6dcb350b72
1 changed files with 14 additions and 14 deletions
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28
ArduCopter/AP_Arming_Copter.cpp
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@ -491,20 +491,20 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
float vel_variance, pos_variance, hgt_variance, tas_variance;
Vector3f mag_variance;
ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance);
if (mag_variance.length() >= copter.g.fs_ekf_thresh) {
check_failed(display_failure, "EKF compass variance");
return false;
}
if (pos_variance >= copter.g.fs_ekf_thresh) {
check_failed(display_failure, "EKF position variance");
return false;
}
if (vel_variance >= copter.g.fs_ekf_thresh) {
check_failed(display_failure, "EKF velocity variance");
return false;
}
if (hgt_variance >= copter.g.fs_ekf_thresh) {
check_failed(display_failure, "EKF height variance");
const struct {
const char *name;
float value;
} variances[] {
{ "compass", mag_variance.length() },
{ "position", pos_variance },
{ "velocity", vel_variance },
{ "height", hgt_variance },
};
for (auto &variance : variances) {
if (variance.value < copter.g.fs_ekf_thresh) {
continue;
}
check_failed(display_failure, "EKF %s variance", variance.name);
return false;
}
}