From 25cdb383c6aa697bf6404b0d8e03dd8af7b5392a Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 30 Jul 2020 15:28:35 +0200 Subject: [PATCH] Commander: simplify main failure detector condition --- src/modules/commander/Commander.cpp | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 6e22ce08ed..a31181fcd5 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2234,23 +2234,15 @@ Commander::run() } /* Check for failure detector status */ - const bool failure_detector_updated = _failure_detector.update(status); - - if (failure_detector_updated) { - + if (_failure_detector.update(status)) { const uint8_t failure_status = _failure_detector.getStatus(); if (failure_status != status.failure_detector_status) { status.failure_detector_status = failure_status; _status_changed = true; } - } - - if (armed.armed && - failure_detector_updated) { - - if (_failure_detector.isFailure()) { + if (armed.armed && _failure_detector.isFailure()) { const hrt_abstime time_at_arm = armed.armed_time_ms * 1000; if (hrt_elapsed_time(&time_at_arm) < 500_ms) {