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Merged in alessiomorale/librepilot/LP-349_pathplanner_warning (pull request #271)

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LP-349 - Remove warning if pathplanner has no defined plan
This commit is contained in:
Philippe Renon 2016-07-03 17:01:19 +02:00
commit c2c4dae628
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); FlightStatusGet(&flightStatus);
if (flightStatus.ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE) { if (flightStatus.ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
pathplanner_active = false; pathplanner_active = false;
if (!validPathPlan) { AlarmsClear(SYSTEMALARMS_ALARM_PATHPLAN);
// 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);
}
return; return;
} }