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added mfts complete check of afts status flags

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This commit is contained in:
neo 2024-06-22 18:13:37 +02:00
parent f019f45c74
commit f3d674c7df
1 changed files with 2 additions and 3 deletions
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5
src/modules/fts_control/fts_control.cpp
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@ -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;