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Commander: simplify main failure detector condition

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This commit is contained in:
Matthias Grob
2020-07-30 15:28:35 +02:00
parent c037dbef21
commit 25cdb383c6
1 changed files with 2 additions and 10 deletions
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src/modules/commander/Commander.cpp
+2 -10
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@@ -2234,23 +2234,15 @@ Commander::run()
}
/* Check for failure detector status */
const bool failure_detector_updated = _failure_detector.update(status);
if (failure_detector_updated) {
if (_failure_detector.update(status)) {
const uint8_t failure_status = _failure_detector.getStatus();
if (failure_status != status.failure_detector_status) {
status.failure_detector_status = failure_status;
_status_changed = true;
}
}
if (armed.armed &&
failure_detector_updated) {
if (_failure_detector.isFailure()) {
if (armed.armed && _failure_detector.isFailure()) {
const hrt_abstime time_at_arm = armed.armed_time_ms * 1000;
if (hrt_elapsed_time(&time_at_arm) < 500_ms) {