mirror of https://github.com/ArduPilot/ardupilot
Copter: re-order position_ok function
no functional change
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@ -298,26 +298,26 @@ static void startup_ground(bool force_gyro_cal)
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// position_ok - returns true if the horizontal absolute position is ok and home position is set
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static bool position_ok()
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{
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if (ahrs.have_inertial_nav()) {
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// return false if ekf failsafe has triggered
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if (failsafe.ekf) {
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return false;
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}
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// with EKF use filter status and ekf check
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nav_filter_status filt_status = inertial_nav.get_filter_status();
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// if disarmed we accept a predicted horizontal position
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if (!motors.armed()) {
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return ((filt_status.flags.horiz_pos_abs || filt_status.flags.pred_horiz_pos_abs));
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} else {
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// once armed we require a good absolute position and EKF must not be in const_pos_mode
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return (filt_status.flags.horiz_pos_abs && !filt_status.flags.const_pos_mode);
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}
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} else {
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// do not allow navigation with older inertial nav
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if (!ahrs.have_inertial_nav()) {
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// do not allow navigation with dcm position
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return false;
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}
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// return false if ekf failsafe has triggered
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if (failsafe.ekf) {
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return false;
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}
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// with EKF use filter status and ekf check
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nav_filter_status filt_status = inertial_nav.get_filter_status();
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// if disarmed we accept a predicted horizontal position
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if (!motors.armed()) {
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return ((filt_status.flags.horiz_pos_abs || filt_status.flags.pred_horiz_pos_abs));
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} else {
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// once armed we require a good absolute position and EKF must not be in const_pos_mode
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return (filt_status.flags.horiz_pos_abs && !filt_status.flags.const_pos_mode);
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}
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}
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// optflow_position_ok - returns true if optical flow based position estimate is ok
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