From f1a6b06586d2b4295704c8f0e86e783dc2fc97da Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 5 Jan 2015 17:56:05 +0900 Subject: [PATCH] Copter: remove redundant filter status checks --- ArduCopter/control_auto.pde | 2 +- ArduCopter/control_circle.pde | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/control_auto.pde b/ArduCopter/control_auto.pde index 0666701f6d..6ca9e652b4 100644 --- a/ArduCopter/control_auto.pde +++ b/ArduCopter/control_auto.pde @@ -20,7 +20,7 @@ // auto_init - initialise auto controller static bool auto_init(bool ignore_checks) { - if ((position_ok() && inertial_nav.get_filter_status().flags.horiz_pos_abs && mission.num_commands() > 1) || ignore_checks) { + if ((position_ok() && mission.num_commands() > 1) || ignore_checks) { auto_mode = Auto_Loiter; // stop ROI from carrying over from previous runs of the mission diff --git a/ArduCopter/control_circle.pde b/ArduCopter/control_circle.pde index c4fad8fadd..7e7d13e418 100644 --- a/ArduCopter/control_circle.pde +++ b/ArduCopter/control_circle.pde @@ -7,7 +7,7 @@ // circle_init - initialise circle controller flight mode static bool circle_init(bool ignore_checks) { - if ((position_ok() && inertial_nav.get_filter_status().flags.horiz_pos_abs) || ignore_checks) { + if (position_ok() || ignore_checks) { circle_pilot_yaw_override = false; // initialize speeds and accelerations