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commander: remove some if confusion 

This is a try to simplify the if statements a bit. Also, a check of
new_arming_state which was impossible, is removed.
This commit is contained in:
Julian Oes 2016-07-12 13:41:09 +02:00
parent 631ce1fc55
commit 314ee6b7e0
1 changed files with 12 additions and 9 deletions
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21
src/modules/commander/state_machine_helper.cpp
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@ -278,17 +278,20 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
// Sensors need to be initialized for STANDBY state, except for HIL
} else if ((status->hil_state != vehicle_status_s::HIL_STATE_ON) &&
(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) &&
(!status_flags->condition_system_sensors_initialized)) {
if ((!status_flags->condition_system_prearm_error_reported &&
status_flags->condition_system_hotplug_timeout) ||
(new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR)) {
mavlink_and_console_log_critical(mavlink_log_pub, "Not ready to fly: Sensors not set up correctly");
status_flags->condition_system_prearm_error_reported = true;
if (!status_flags->condition_system_sensors_initialized) {
if (status_flags->condition_system_hotplug_timeout) {
if (!status_flags->condition_system_prearm_error_reported) {
mavlink_and_console_log_critical(mavlink_log_pub,
"Not ready to fly: Sensors not set up correctly");
status_flags->condition_system_prearm_error_reported = true;
}
}
feedback_provided = true;
valid_transition = false;
}
feedback_provided = true;
valid_transition = false;
}
// Finish up the state transition