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Copter: tidy use 'else if' to avoid unnecessary complication in location arm checks

This commit is contained in:
Peter Barker 2024-06-19 13:36:20 +10:00 committed by Peter Barker
parent b86094978d
commit e34c91d1aa
1 changed files with 8 additions and 10 deletions
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18
ArduCopter/AP_Arming.cpp
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@ -450,17 +450,15 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
check_failed(display_failure, "Need Position Estimate");
return false;
}
} else {
if (fence_requires_gps) {
if (!copter.position_ok()) {
// clarify to user why they need GPS in non-GPS flight mode
check_failed(display_failure, "Fence enabled, need position estimate");
return false;
}
} else {
// return true if GPS is not required
return true;
} else if (fence_requires_gps) {
if (!copter.position_ok()) {
// clarify to user why they need GPS in non-GPS flight mode
check_failed(display_failure, "Fence enabled, need position estimate");
return false;
}
} else {
// return true if GPS is not required
return true;
}
// check for GPS glitch (as reported by EKF)