From 2a67d22ac727152422646a0263e5f1f92a92c197 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 24 Jan 2020 15:49:07 +0100 Subject: [PATCH] commander powerCheck: simplify logic refactoring only --- .../PreFlightCheck/checks/powerCheck.cpp | 45 +++++++++---------- 1 file changed, 22 insertions(+), 23 deletions(-) diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp index 0bafb71967..3a669e6a4f 100644 --- a/src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp @@ -48,36 +48,35 @@ bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_sta if (!prearm) { // Ignore power check after arming. return true; + } - } else { - uORB::SubscriptionData system_power_sub{ORB_ID(system_power)}; - system_power_sub.update(); - const system_power_s &system_power = system_power_sub.get(); + uORB::SubscriptionData system_power_sub{ORB_ID(system_power)}; + system_power_sub.update(); + const system_power_s &system_power = system_power_sub.get(); - if (hrt_elapsed_time(&system_power.timestamp) < 200_ms) { + if (hrt_elapsed_time(&system_power.timestamp) < 200_ms) { - /* copy avionics voltage */ - float avionics_power_rail_voltage = system_power.voltage5v_v; + /* copy avionics voltage */ + float avionics_power_rail_voltage = system_power.voltage5v_v; - // avionics rail - // Check avionics rail voltages - if (avionics_power_rail_voltage < 4.5f) { - success = false; + // avionics rail + // Check avionics rail voltages + if (avionics_power_rail_voltage < 4.5f) { + success = false; - if (report_fail) { - mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Avionics Power low: %6.2f Volt", - (double)avionics_power_rail_voltage); - } + if (report_fail) { + mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Avionics Power low: %6.2f Volt", + (double)avionics_power_rail_voltage); + } - } else if (avionics_power_rail_voltage < 4.9f) { - if (report_fail) { - mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power low: %6.2f Volt", (double)avionics_power_rail_voltage); - } + } else if (avionics_power_rail_voltage < 4.9f) { + if (report_fail) { + mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power low: %6.2f Volt", (double)avionics_power_rail_voltage); + } - } else if (avionics_power_rail_voltage > 5.4f) { - if (report_fail) { - mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power high: %6.2f Volt", (double)avionics_power_rail_voltage); - } + } else if (avionics_power_rail_voltage > 5.4f) { + if (report_fail) { + mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics Power high: %6.2f Volt", (double)avionics_power_rail_voltage); } } }