aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: remove redundant filter status checks

Browse Source
This commit is contained in:
Randy Mackay 2015-01-05 17:56:05 +09:00
parent 3641d3d508
commit f1a6b06586
2 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/control_auto.pde
View File

@ -20,7 +20,7 @@
// auto_init - initialise auto controller // auto_init - initialise auto controller
static bool auto_init(bool ignore_checks) 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; auto_mode = Auto_Loiter;
// stop ROI from carrying over from previous runs of the mission // stop ROI from carrying over from previous runs of the mission

2
ArduCopter/control_circle.pde
View File

@ -7,7 +7,7 @@
// circle_init - initialise circle controller flight mode // circle_init - initialise circle controller flight mode
static bool circle_init(bool ignore_checks) 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; circle_pilot_yaw_override = false;
// initialize speeds and accelerations // initialize speeds and accelerations