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Copter: remove redundant filter status checks

mission-4.1.18
Randy Mackay 10 years ago
parent
commit
f1a6b06586
  1. 2
      ArduCopter/control_auto.pde
  2. 2
      ArduCopter/control_circle.pde

2
ArduCopter/control_auto.pde

@ -20,7 +20,7 @@ @@ -20,7 +20,7 @@
// auto_init - initialise auto controller
static bool auto_init(bool ignore_checks)
{
if ((position_ok() && inertial_nav.get_filter_status().flags.horiz_pos_abs && mission.num_commands() > 1) || ignore_checks) {
if ((position_ok() && mission.num_commands() > 1) || ignore_checks) {
auto_mode = Auto_Loiter;
// stop ROI from carrying over from previous runs of the mission

2
ArduCopter/control_circle.pde

@ -7,7 +7,7 @@ @@ -7,7 +7,7 @@
// circle_init - initialise circle controller flight mode
static bool circle_init(bool ignore_checks)
{
if ((position_ok() && inertial_nav.get_filter_status().flags.horiz_pos_abs) || ignore_checks) {
if (position_ok() || ignore_checks) {
circle_pilot_yaw_override = false;
// initialize speeds and accelerations

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