forked from Archive/PX4-Autopilot
PreflightCheck: remove goto from imu consistency check
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6066300757
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c570dc9315
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@ -150,7 +150,6 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &sta
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static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, bool report_status)
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{
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bool success = true; // start with a pass and change to a fail if any test fails
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float test_limit = 1.0f; // pass limit re-used for each test
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// Get sensor_preflight data if available and exit with a fail recorded if not
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@ -169,8 +168,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
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set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_ACC2, false, status);
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}
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success = false;
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goto out;
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return false;
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} else if (sensors.accel_inconsistency_m_s_s > test_limit * 0.8f) {
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if (report_status) {
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@ -188,8 +186,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
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set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, false, status);
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}
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success = false;
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goto out;
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return false;
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} else if (sensors.gyro_inconsistency_rad_s > test_limit * 0.5f) {
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if (report_status) {
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@ -197,8 +194,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
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}
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}
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out:
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return success;
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return true;
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}
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// return false if the magnetomer measurements are inconsistent
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