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AP_Notify: Perform common checks first #27394

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merged 1 commit into from
Jul 24, 2024
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AP_Notify: Perform common checks first #27394

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17 changes: 7 additions & 10 deletions libraries/AP_Notify/RGBLed.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -165,16 +165,13 @@ uint32_t RGBLed::get_colour_sequence(void) const
if (!AP_Notify::flags.pre_arm_check) {
return sequence_prearm_failing;
}
if (AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D_DGPS &&
AP_Notify::flags.pre_arm_gps_check &&
good_ahrs_location) {
return sequence_disarmed_good_dgps_and_location;
}

if (AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D &&
AP_Notify::flags.pre_arm_gps_check &&
good_ahrs_location) {
return sequence_disarmed_good_gps_and_location;
if (AP_Notify::flags.pre_arm_gps_check && good_ahrs_location) {
if (AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D_DGPS) {
return sequence_disarmed_good_dgps_and_location;
}
if (AP_Notify::flags.gps_status >= AP_GPS::GPS_OK_FIX_3D) {
return sequence_disarmed_good_gps_and_location;
}
}
#endif

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