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commander: fix variable naming

This commit is contained in:
Beat Küng 2020-01-22 16:55:28 +01:00 committed by Daniel Agar
parent 8bfbfa033c
commit c61e44f55b
1 changed files with 6 additions and 9 deletions
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15
src/modules/commander/Commander.cpp
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@ -1192,8 +1192,8 @@ Commander::run()
{
bool sensor_fail_tune_played = false;
param_t _param_airmode = param_find("MC_AIRMODE");
param_t _param_rc_map_arm_switch = param_find("RC_MAP_ARM_SW");
const param_t param_airmode = param_find("MC_AIRMODE");
const param_t param_rc_map_arm_switch = param_find("RC_MAP_ARM_SW");
/* initialize */
led_init();
@ -1217,9 +1217,6 @@ Commander::run()
get_circuit_breaker_params();
/* command ack */
/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
mission_init();
@ -1359,13 +1356,13 @@ Commander::run()
_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
/* check for unsafe Airmode settings: yaw airmode requires the use of an arming switch */
if (_param_airmode != PARAM_INVALID && _param_rc_map_arm_switch != PARAM_INVALID) {
param_get(_param_airmode, &airmode);
param_get(_param_rc_map_arm_switch, &rc_map_arm_switch);
if (param_airmode != PARAM_INVALID && param_rc_map_arm_switch != PARAM_INVALID) {
param_get(param_airmode, &airmode);
param_get(param_rc_map_arm_switch, &rc_map_arm_switch);
if (airmode == 2 && rc_map_arm_switch == 0) {
airmode = 1; // change to roll/pitch airmode
param_set(_param_airmode, &airmode);
param_set(param_airmode, &airmode);
mavlink_log_critical(&mavlink_log_pub, "Yaw Airmode requires the use of an Arm Switch")
}
}