fixes

paparazzi · Sep 25, 2023 · 41a2b4b · 41a2b4b
1 parent 043c21a
commit 41a2b4b
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
@@ -78,7 +78,7 @@ static uint32_t autopilot_in_flight_counter;
 #endif
 
 /** Default ground-detection estimation based on accelerometer shock */
-__attribute__((weak)) bool autopilot_ground_detection(void) {
+bool WEAK autopilot_ground_detection(void) {
   struct NedCoor_f *accel = stateGetAccelNed_f();
   if (accel->z < -THRESHOLD_GROUND_DETECT ||
       accel->z > THRESHOLD_GROUND_DETECT) {
@@ -89,7 +89,7 @@ __attribute__((weak)) bool autopilot_ground_detection(void) {
 
 
 /** Default in-flight detection estimation based on thrust and speed */
-__attribute__((weak)) bool autopilot_in_flight_detection(void) {
+bool WEAK autopilot_in_flight_end_detection(void) {
   if (autopilot_in_flight_counter > 0) {
     /* probably in_flight if thrust, speed and accel above IN_FLIGHT_MIN thresholds */
     if ((stabilization_cmd[COMMAND_THRUST] <= AUTOPILOT_IN_FLIGHT_MIN_THRUST) &&
@@ -282,9 +282,9 @@ void autopilot_reset_in_flight_counter(void)
 void autopilot_check_in_flight(bool motors_on)
 {
   if (autopilot.in_flight) {
-    if (autopilot_in_flight_detection()) {
+    if (autopilot_in_flight_end_detection()) {
       autopilot.in_flight = false;
-      autopilot_in_flight_counter == 0;
+      autopilot_in_flight_counter = 0;
     }
   } else { /* currently not in flight */
     if (autopilot_in_flight_counter < AUTOPILOT_IN_FLIGHT_TIME &&

diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.h b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.h
@@ -34,10 +34,10 @@
 extern uint8_t autopilot_mode_auto2;
 
 // Detect the ground and set NavGroundDetect() to true
-__attribute__((weak)) extern bool autopilot_ground_detection(void);
+extern bool autopilot_ground_detection(void);
 
 // Detect the end of in_flight and stop integrators in control loops
-__attribute__((weak)) extern bool autopilot_in_flight_detection(void);
+extern bool autopilot_in_flight_end_detection(void);
 
 extern void autopilot_firmware_init(void);