From f3d674c7df9ef59054aa9175a80a792eea42d64a Mon Sep 17 00:00:00 2001 From: neo Date: Sat, 22 Jun 2024 18:13:37 +0200 Subject: [PATCH] added mfts complete check of afts status flags --- src/modules/fts_control/fts_control.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/fts_control/fts_control.cpp b/src/modules/fts_control/fts_control.cpp index b9486c1..5032e2f 100644 --- a/src/modules/fts_control/fts_control.cpp +++ b/src/modules/fts_control/fts_control.cpp @@ -80,9 +80,8 @@ FTSController::Run() { case AUTO_FTS_STATE_DISARMED: { //AFTS IS NOT CURRENTLY ARMED - //TODO ADD GEOFENCE LOADED CHECK ETC - //if (_auto_fts_message.config_status != 0 && _auto_fts_message.geofence_loaded != 0 && _auto_fts_message.gps_lock != 0) { - if (_auto_fts_message.gps_lock != 0) { + if (_auto_fts_message.config_status != 0 && _auto_fts_message.geofence_loaded != 0 && _auto_fts_message.gps_lock != 0) { + //AFTS ARMING CONDITIONS ARE MET if (_auto_fts_message.geofence_violated != 0) { // FAILSAFE: CANNOT ARM AUTO-FTS WHEN GEOFENCE IS ALREADY VIOLATED _auto_fts_state = AUTO_FTS_STATE_ERROR;