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APM_OBC: non-functional change - cleaned up logic

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This commit is contained in:
Tom Pittenger 2016-04-22 15:22:58 -07:00
parent 4e7e84fc99
commit f2d744b7c9
1 changed files with 3 additions and 10 deletions
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13
libraries/APM_OBC/APM_OBC.cpp
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@ -163,18 +163,14 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
}
// check if RC termination is enabled
if(_enable_RC_fs) {
// check for RC failure in manual mode or RC failure when AFS_RC_MANUAL is 0
if (_state != STATE_PREFLIGHT &&
if (_state != STATE_PREFLIGHT && !_terminate && _enable_RC_fs &&
(mode == OBC_MANUAL || mode == OBC_FBW || !_rc_term_manual_only) &&
_rc_fail_time != 0 &&
(AP_HAL::millis() - last_valid_rc_ms) > (unsigned)_rc_fail_time.get()) {
if (!_terminate) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "RC failure terminate");
_terminate.set(1);
}
}
}
// tell the failsafe board if we are in manual control
// mode. This tells it to pass through controls from the
@ -257,19 +253,16 @@ APM_OBC::check(APM_OBC::control_mode mode, uint32_t last_heartbeat_ms, bool geof
if (!gcs_link_ok) {
// losing GCS link when GPS lock lost
// leads to termination if AFS_DUAL_LOSS is 1
if(_enable_dual_loss) {
if (!_terminate) {
if (!_terminate && _enable_dual_loss) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Dual loss TERMINATE");
_terminate.set(1);
}
}
} else if (gps_lock_ok) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GPS OK");
_state = STATE_AUTO;
// we only return to the mission if we have not exceeded AFS_MAX_GPS_LOSS
if (_saved_wp != 0 &&
(_max_gps_loss <= 0 ||
_gps_loss_count <= _max_gps_loss)) {
(_max_gps_loss <= 0 || _gps_loss_count <= _max_gps_loss)) {
mission.set_current_cmd(_saved_wp);
_saved_wp = 0;
}