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Commander: remove check for FW_ARSP_MODE for airspeed missing reporting

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-12-06 12:16:01 +01:00
parent 5211c358aa
commit 1f2a0bc657
2 changed files with 2 additions and 7 deletions
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src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp
+2 -6
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@@ -37,7 +37,7 @@
using namespace time_literals; using namespace time_literals;
AirspeedChecks::AirspeedChecks() AirspeedChecks::AirspeedChecks()
: _param_fw_arsp_mode_handle(param_find("FW_ARSP_MODE")), _param_fw_airspd_max_handle(param_find("FW_AIRSPD_MAX")) : _param_fw_airspd_max_handle(param_find("FW_AIRSPD_MAX"))
{ {
} }
@@ -48,10 +48,6 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
return; return;
} }
int32_t airspeed_mode = 0;
param_get(_param_fw_arsp_mode_handle, &airspeed_mode);
const bool optional = (airspeed_mode == 1);
airspeed_validated_s airspeed_validated; airspeed_validated_s airspeed_validated;
if (_airspeed_validated_sub.copy(&airspeed_validated) && hrt_elapsed_time(&airspeed_validated.timestamp) < 1_s) { if (_airspeed_validated_sub.copy(&airspeed_validated) && hrt_elapsed_time(&airspeed_validated.timestamp) < 1_s) {
@@ -100,7 +96,7 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
} }
} }
} else if (!optional) { } else {
/* EVENT /* EVENT
* @description * @description
src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp
-1
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@@ -49,7 +49,6 @@ public:
private: private:
uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
const param_t _param_fw_arsp_mode_handle;
const param_t _param_fw_airspd_max_handle; const param_t _param_fw_airspd_max_handle;
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase, DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,