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AP_Notify: Perform common checks first

This commit is contained in:
muramura 2024-06-26 21:27:17 +09:00 committed by Peter Barker
parent 66817e207f
commit 84ff78f5c6

View File

@ -165,16 +165,13 @@ uint32_t RGBLed::get_colour_sequence(void) const
if (!AP_Notify::flags.pre_arm_check) { if (!AP_Notify::flags.pre_arm_check) {
return sequence_prearm_failing; return sequence_prearm_failing;
} }
if (AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D_DGPS && if (AP_Notify::flags.pre_arm_gps_check && good_ahrs_location) {
AP_Notify::flags.pre_arm_gps_check && if (AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D_DGPS) {
good_ahrs_location) { return sequence_disarmed_good_dgps_and_location;
return sequence_disarmed_good_dgps_and_location; }
} if (AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D) {
return sequence_disarmed_good_gps_and_location;
if (AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D && }
AP_Notify::flags.pre_arm_gps_check &&
good_ahrs_location) {
return sequence_disarmed_good_gps_and_location;
} }
#endif #endif