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Code Issues Releases Activity

Changed alarm level checking from WARNING level to ERROR level before allowing arming.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2822 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip 2011-02-20 19:34:27 +00:00 committed by pip
parent 88cf1e276a
commit 0c48fe258a
1 changed files with 5 additions and 5 deletions
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10
flight/Modules/ManualControl/manualcontrol.c
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@ -544,7 +544,7 @@ static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
}
static bool okToArm(void)
{ // return TRUE if it's OK to arm
{ // return TRUE if it's OK to arm, otherwise return FALSE
bool ok = true;
@ -568,11 +568,11 @@ static bool okToArm(void)
// Check each alarm
for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++)
{
if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_WARNING)
if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR)
{ // found an alarm thats set
if (i != SYSTEMALARMS_ALARM_GPS && i != SYSTEMALARMS_ALARM_TELEMETRY)
{ // it's not the gps or telemetry alarm
ok = false;
ok = false; // prevent arming
break;
}
}
@ -586,11 +586,11 @@ static bool okToArm(void)
// Check each alarm
for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++)
{
if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_WARNING)
if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR)
{ // found an alarm thats set
if (i != SYSTEMALARMS_ALARM_TELEMETRY)
{ // it's not the telemetry alarm
ok = false;
ok = false; // prevent arming
break;
}
}