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AP_GPS: tidy is_healthy calculations 

this removes some duplicate code and simplifies the flow of control
This commit is contained in:
Peter Barker 2023-06-24 11:27:51 +10:00 committed by Andrew Tridgell
parent da30f0b418
commit bf005731a9
1 changed files with 2 additions and 4 deletions
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6
libraries/AP_GPS/AP_GPS.cpp
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@ -2109,13 +2109,11 @@ bool AP_GPS::is_healthy(uint8_t instance) const
return false;
}
#ifdef HAL_BUILD_AP_PERIPH
#ifndef HAL_BUILD_AP_PERIPH
/*
on AP_Periph handling of timing is done by the flight controller
receiving the DroneCAN messages
*/
return drivers[instance] != nullptr && drivers[instance]->is_healthy();
#else
/*
allow two lost frames before declaring the GPS unhealthy, but
require the average frame rate to be close to 5Hz. We allow for
@ -2131,6 +2129,7 @@ bool AP_GPS::is_healthy(uint8_t instance) const
if (!delay_ok) {
return false;
}
#endif // HAL_BUILD_AP_PERIPH
#if defined(GPS_BLENDED_INSTANCE)
if (instance == GPS_BLENDED_INSTANCE) {
@ -2140,7 +2139,6 @@ bool AP_GPS::is_healthy(uint8_t instance) const
return drivers[instance] != nullptr &&
drivers[instance]->is_healthy();
#endif // HAL_BUILD_AP_PERIPH
}
bool AP_GPS::prepare_for_arming(void) {