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PreflightCheck: remove goto from imu consistency check

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This commit is contained in:
Matthias Grob
2019-10-09 08:03:07 +02:00
committed by Beat Küng
parent 6066300757
commit c570dc9315
1 changed files with 3 additions and 7 deletions
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src/modules/commander/PreflightCheck.cpp
+3 -7
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@@ -150,7 +150,6 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &sta
static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, bool report_status)
{
bool success = true; // start with a pass and change to a fail if any test fails
float test_limit = 1.0f; // pass limit re-used for each test
// Get sensor_preflight data if available and exit with a fail recorded if not
@@ -169,8 +168,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_ACC2, false, status);
}
success = false;
goto out;
return false;
} else if (sensors.accel_inconsistency_m_s_s > test_limit * 0.8f) {
if (report_status) {
@@ -188,8 +186,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, false, status);
}
success = false;
goto out;
return false;
} else if (sensors.gyro_inconsistency_rad_s > test_limit * 0.5f) {
if (report_status) {
@@ -197,8 +194,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
}
}
out:
return success;
return true;
}
// return false if the magnetomer measurements are inconsistent