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Copter: tidy handling of DO_FLIGHT_TERMINATION

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This commit is contained in:
murata 2020-03-14 09:09:10 +09:00 committed by Peter Barker
parent b6833eee9b
commit 5ca7e03eeb
1 changed files with 7 additions and 12 deletions
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19
ArduCopter/GCS_Mavlink.cpp
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@ -1338,22 +1338,17 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_long_t &packet) {
MAV_RESULT result = MAV_RESULT_FAILED;
#if ADVANCED_FAILSAFE == ENABLED
if (GCS_MAVLINK::handle_flight_termination(packet) != MAV_RESULT_ACCEPTED) {
#endif
if (packet.param1 > 0.5f) {
copter.arming.disarm(AP_Arming::Method::TERMINATION);
result = MAV_RESULT_ACCEPTED;
}
#if ADVANCED_FAILSAFE == ENABLED
} else {
result = MAV_RESULT_ACCEPTED;
if (GCS_MAVLINK::handle_flight_termination(packet) == MAV_RESULT_ACCEPTED) {
return MAV_RESULT_ACCEPTED;
}
#endif
if (packet.param1 > 0.5f) {
copter.arming.disarm(AP_Arming::Method::TERMINATION);
return MAV_RESULT_ACCEPTED;
}
return result;
return MAV_RESULT_FAILED;
}
float GCS_MAVLINK_Copter::vfr_hud_alt() const