From 1f2a0bc65790e6b8232eeb112a897c2acea37581 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 6 Dec 2023 12:16:01 +0100 Subject: [PATCH] Commander: remove check for FW_ARSP_MODE for airspeed missing reporting Signed-off-by: Silvan Fuhrer --- .../HealthAndArmingChecks/checks/airspeedCheck.cpp | 8 ++------ .../HealthAndArmingChecks/checks/airspeedCheck.hpp | 1 - 2 files changed, 2 insertions(+), 7 deletions(-) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp index 7c6ee617fb..090110624e 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp @@ -37,7 +37,7 @@ using namespace time_literals; AirspeedChecks::AirspeedChecks() - : _param_fw_arsp_mode_handle(param_find("FW_ARSP_MODE")), _param_fw_airspd_max_handle(param_find("FW_AIRSPD_MAX")) + : _param_fw_airspd_max_handle(param_find("FW_AIRSPD_MAX")) { } @@ -48,10 +48,6 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter) return; } - int32_t airspeed_mode = 0; - param_get(_param_fw_arsp_mode_handle, &airspeed_mode); - const bool optional = (airspeed_mode == 1); - airspeed_validated_s airspeed_validated; if (_airspeed_validated_sub.copy(&airspeed_validated) && hrt_elapsed_time(&airspeed_validated.timestamp) < 1_s) { @@ -100,7 +96,7 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter) } } - } else if (!optional) { + } else { /* EVENT * @description diff --git a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp index 1c3ac53b12..bbafa5dd9a 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp @@ -49,7 +49,6 @@ public: private: uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; - const param_t _param_fw_arsp_mode_handle; const param_t _param_fw_airspd_max_handle; DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,