Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rover: failsafe check format fix 

adding some brackets perhaps makes it a little clearer
This commit is contained in:
Randy Mackay 2019-10-04 16:07:46 +09:00
parent 006004be13
commit 9456fe4d70
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
APMrover2/failsafe.cpp
View File

@ -64,10 +64,10 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
failsafe.triggered &= failsafe.bits;
if (failsafe.triggered == 0 &&
failsafe.bits != 0 &&
millis() - failsafe.start_time > g.fs_timeout * 1000 &&
control_mode != &mode_rtl &&
if ((failsafe.triggered == 0) &&
(failsafe.bits != 0) &&
(millis() - failsafe.start_time > g.fs_timeout * 1000) &&
(control_mode != &mode_rtl) &&
((control_mode != &mode_hold || (g2.fs_options & (uint32_t)Failsafe_Options::Failsafe_Option_Active_In_Hold)))) {
failsafe.triggered = failsafe.bits;
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe trigger 0x%x", (unsigned int)failsafe.triggered);