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Code Issues Releases Activity

OP-1350 fix a review defect(a set intead of TakeOffLocationStatusGetget). Check if status is valid beside locationSet

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This commit is contained in:
Alessio Morale 2014-05-16 23:32:11 +02:00
parent f3df459278
commit 2048440053
1 changed files with 11 additions and 8 deletions
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19
flight/modules/ManualControl/takeofflocationhandler.c
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@ -62,6 +62,7 @@ void takeOffLocationHandlerInit()
void takeOffLocationHandler()
{
uint8_t armed;
uint8_t status;
FlightStatusArmedGet(&armed);
@ -70,14 +71,15 @@ void takeOffLocationHandler()
return;
}
TakeOffLocationStatusGet(&status);
switch (armed) {
case FLIGHTSTATUS_ARMED_ARMING:
case FLIGHTSTATUS_ARMED_ARMED:
if (!locationSet) {
if (!locationSet || status != TAKEOFFLOCATION_STATUS_VALID) {
uint8_t mode;
uint8_t status;
TakeOffLocationStatusSet(&status);
TakeOffLocationModeGet(&mode);
if ((mode != TAKEOFFLOCATION_MODE_PRESET) || (status == TAKEOFFLOCATION_STATUS_INVALID)) {
SetTakeOffLocation();
} else {
@ -93,8 +95,8 @@ void takeOffLocationHandler()
TakeOffLocationModeGet(&mode);
if (mode == TAKEOFFLOCATION_MODE_ARMINGLOCATION) {
locationSet = false;
uint8_t newStatus = TAKEOFFLOCATION_STATUS_INVALID;
TakeOffLocationStatusSet(&newStatus);
status = TAKEOFFLOCATION_STATUS_INVALID;
TakeOffLocationStatusSet(&status);
}
}
break;
@ -113,9 +115,10 @@ void SetTakeOffLocation()
PositionStateData positionState;
PositionStateGet(&positionState);
takeOffLocation.North = positionState.North;
takeOffLocation.East = positionState.East;
takeOffLocation.Down = positionState.Down;
takeOffLocation.North = positionState.North;
takeOffLocation.East = positionState.East;
takeOffLocation.Down = positionState.Down;
takeOffLocation.Status = TAKEOFFLOCATION_STATUS_VALID;
TakeOffLocationSet(&takeOffLocation);
locationSet = true;