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Code Issues Releases Activity

LP-349 - Remove warning if pathplanner has no defined plan

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This commit is contained in:
Alessio Morale 2016-06-28 23:20:39 +02:00
parent 5ca24b6d25
commit 134bcff0df
1 changed files with 1 additions and 10 deletions
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11
flight/modules/PathPlanner/pathplanner.c
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@ -188,16 +188,7 @@ static void pathPlannerTask()
FlightStatusGet(&flightStatus);
if (flightStatus.ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
pathplanner_active = false;
if (!validPathPlan) {
// unverified path plans are only a warning while we are not in pathplanner mode
// so it does not prevent arming. However manualcontrols safety check
// shall test for this warning when pathplan is on the flight mode selector
// thus a valid flight plan is a prerequirement for arming
AlarmsSet(SYSTEMALARMS_ALARM_PATHPLAN, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_PATHPLAN);
}
AlarmsClear(SYSTEMALARMS_ALARM_PATHPLAN);
return;
}