Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: re-order position_ok function

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduCopter/system.pde
View File

@ -298,7 +298,11 @@ static void startup_ground(bool force_gyro_cal)
// position_ok - returns true if the horizontal absolute position is ok and home position is set
static bool position_ok()
{
if (ahrs.have_inertial_nav()) {
if (!ahrs.have_inertial_nav()) {
// do not allow navigation with dcm position
return false;
}
// return false if ekf failsafe has triggered
if (failsafe.ekf) {
return false;
@ -314,10 +318,6 @@ static bool position_ok()
// 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;
}
}
// optflow_position_ok - returns true if optical flow based position estimate is ok