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mag check: do not require mag 0

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sys_has_mag defines the required number of mags; if one mag is needed,
it can be any instance, not necessarily mag 0
This commit is contained in:
bresch
2025-02-14 16:12:20 +01:00
committed by Mathieu Bresciani
parent e3fd50667d
commit fe5c887895
1 changed files with 3 additions and 4 deletions
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src/modules/commander/HealthAndArmingChecks/checks/magnetometerCheck.cpp
+3 -4
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@@ -47,9 +47,6 @@ void MagnetometerChecks::checkAndReport(const Context &context, Report &reporter
int num_enabled_and_valid_calibration = 0;
for (int instance = 0; instance < _sensor_mag_sub.size(); instance++) {
bool is_mag_fault = false;
const bool is_required = instance == 0 || isMagRequired(instance, is_mag_fault);
const bool exists = _sensor_mag_sub[instance].advertised();
bool is_valid = false;
bool is_calibration_valid = false;
@@ -80,7 +77,9 @@ void MagnetometerChecks::checkAndReport(const Context &context, Report &reporter
}
// Do not raise errors if a mag is not required
if (!is_required) {
bool is_mag_fault = false;
if (!isMagRequired(instance, is_mag_fault)) {
continue;
}