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Copter: re-order position_ok function 

no functional change
This commit is contained in:
Randy Mackay 2015-03-19 12:36:20 +09:00
parent 5a4ed85588
commit c41ecca8d5
1 changed files with 18 additions and 18 deletions
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36
ArduCopter/system.pde
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@ -298,26 +298,26 @@ static void startup_ground(bool force_gyro_cal)
// position_ok - returns true if the horizontal absolute position is ok and home position is set // position_ok - returns true if the horizontal absolute position is ok and home position is set
static bool position_ok() static bool position_ok()
{ {
if (ahrs.have_inertial_nav()) { if (!ahrs.have_inertial_nav()) {
// return false if ekf failsafe has triggered // do not allow navigation with dcm position
if (failsafe.ekf) {
return false;
}
// with EKF use filter status and ekf check
nav_filter_status filt_status = inertial_nav.get_filter_status();
// if disarmed we accept a predicted horizontal position
if (!motors.armed()) {
return ((filt_status.flags.horiz_pos_abs || filt_status.flags.pred_horiz_pos_abs));
} else {
// once armed we require a good absolute position and EKF must not be in const_pos_mode
return (filt_status.flags.horiz_pos_abs && !filt_status.flags.const_pos_mode);
}
} else {
// do not allow navigation with older inertial nav
return false; return false;
} }
// return false if ekf failsafe has triggered
if (failsafe.ekf) {
return false;
}
// with EKF use filter status and ekf check
nav_filter_status filt_status = inertial_nav.get_filter_status();
// if disarmed we accept a predicted horizontal position
if (!motors.armed()) {
return ((filt_status.flags.horiz_pos_abs || filt_status.flags.pred_horiz_pos_abs));
} else {
// once armed we require a good absolute position and EKF must not be in const_pos_mode
return (filt_status.flags.horiz_pos_abs && !filt_status.flags.const_pos_mode);
}
} }
// optflow_position_ok - returns true if optical flow based position estimate is ok // optflow_position_ok - returns true if optical flow based position estimate is ok