From c1936dab1fb511a34b5bb0c6b51abd537c96cc84 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 13 Sep 2020 16:41:18 -0400 Subject: [PATCH] commander: accel & gyro subsystem health set within IMU check --- .../Arming/PreFlightCheck/checks/accelerometerCheck.cpp | 7 ------- .../commander/Arming/PreFlightCheck/checks/gyroCheck.cpp | 7 ------- 2 files changed, 14 deletions(-) diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp index c87d3ba0ee..8bb9fd290a 100644 --- a/src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp @@ -99,12 +99,5 @@ bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_s const bool success = calibration_valid && valid; - if (instance == 0) { - set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ACC, exists, !optional, success, status); - - } else if (instance == 1) { - set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ACC2, exists, !optional, success, status); - } - return success; } diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp index fc8687206b..9387cca116 100644 --- a/src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp @@ -79,12 +79,5 @@ bool PreFlightCheck::gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s & } } - if (instance == 0) { - set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO, exists, !optional, calibration_valid && valid, status); - - } else if (instance == 1) { - set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, exists, !optional, calibration_valid && valid, status); - } - return calibration_valid && valid; }