From 66af778f7f7b0bedbc82404a0463584d175e6e02 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 30 Apr 2026 00:10:58 +0200 Subject: [PATCH] refactor(modeCheck): inline checkArmingRequirement() function --- .../checks/modeCheck.cpp | 23 ++++++++----------- .../checks/modeCheck.hpp | 2 -- 2 files changed, 9 insertions(+), 16 deletions(-) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp index f5f8a05eeb..c606aaa523 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp @@ -36,7 +36,15 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter) { if (!context.isArmed()) { - checkArmingRequirement(context, reporter); + if (reporter.failsafeFlags().mode_req_prevent_arming & (1u << context.status().nav_state)) { + /* EVENT + * @description + * Switch to another mode first. + */ + reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_prevent_arming, health_component_t::system, + events::ID("check_modes_cannot_takeoff"), + events::Log::Info, "Mode not suitable for arming"); + } } // Failing mode requirements generally also clear the can_run bits which prevents mode switching and @@ -181,16 +189,3 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter) reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_wind_and_flight_time_compliance); } } - -void ModeChecks::checkArmingRequirement(const Context &context, Report &reporter) -{ - if (reporter.failsafeFlags().mode_req_prevent_arming & (1u << context.status().nav_state)) { - /* EVENT - * @description - * Switch to another mode first. - */ - reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_prevent_arming, health_component_t::system, - events::ID("check_modes_cannot_takeoff"), - events::Log::Info, "Mode not suitable for arming"); - } -} diff --git a/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.hpp index ee1e7042b0..860cafc342 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.hpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.hpp @@ -46,8 +46,6 @@ public: void checkAndReport(const Context &context, Report &reporter) override; private: - void checkArmingRequirement(const Context &context, Report &reporter); - DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase, (ParamBool) _param_com_arm_mis_req, (ParamInt) _param_com_rc_in_mode