another slight improvement

paparazzi · Oct 26, 2012 · 4e56764 · 4e56764
1 parent c9693d6
commit 4e56764
Showing 1 changed file with 19 additions and 21 deletions.
diff --git a/sw/airborne/modules/safety_warnings/safety_warnings.c b/sw/airborne/modules/safety_warnings/safety_warnings.c
@@ -50,27 +50,25 @@ void safety_warnings_periodic(void) {
     RunXTimesEvery(0, 60, 5, 7, {LED_TOGGLE(SAFETY_WARNING_LED);});
     RunXTimesEvery(130, 130, 10, 6, {LED_TOGGLE(SAFETY_WARNING_LED);});
   }
-  else if(!autopilot_motors_on) {
-    if (!(autopilot_mode == MODE_MANUAL) ){
-      RunXTimesEvery(20, 240, 40, 1, {LED_ON(SAFETY_WARNING_LED);});
-      RunXTimesEvery(0, 240, 40, 1, {LED_OFF(SAFETY_WARNING_LED);});
-    }
-    else if (!THROTTLE_STICK_DOWN()){
-      RunXTimesEvery(20, 240, 40, 2, {LED_ON(SAFETY_WARNING_LED);});
-      RunXTimesEvery(0, 240, 40, 2, {LED_OFF(SAFETY_WARNING_LED);});
-    }
-    else if (!ROLL_STICK_CENTERED()){
-      RunXTimesEvery(20, 240, 40, 3, {LED_ON(SAFETY_WARNING_LED);});
-      RunXTimesEvery(0, 240, 40, 3, {LED_OFF(SAFETY_WARNING_LED);});
-    }
-    else if (!PITCH_STICK_CENTERED()){
-      RunXTimesEvery(20, 240, 40, 4, {LED_ON(SAFETY_WARNING_LED);});
-      RunXTimesEvery(0, 240, 40, 4, {LED_OFF(SAFETY_WARNING_LED);});
-    }
-    else if (!YAW_STICK_CENTERED()){
-      RunXTimesEvery(20, 240, 40, 5, {LED_ON(SAFETY_WARNING_LED);});
-      RunXTimesEvery(0, 240, 40, 5, {LED_OFF(SAFETY_WARNING_LED);});
-    }
+  else if (!(autopilot_mode == MODE_MANUAL) && !autopilot_motors_on){
+    RunXTimesEvery(20, 240, 40, 1, {LED_ON(SAFETY_WARNING_LED);});
+    RunXTimesEvery(0, 240, 40, 1, {LED_OFF(SAFETY_WARNING_LED);});
+  }
+  else if (!THROTTLE_STICK_DOWN() && !autopilot_motors_on){
+    RunXTimesEvery(20, 240, 40, 2, {LED_ON(SAFETY_WARNING_LED);});
+    RunXTimesEvery(0, 240, 40, 2, {LED_OFF(SAFETY_WARNING_LED);});
+  }
+  else if (!ROLL_STICK_CENTERED() && !autopilot_motors_on){
+    RunXTimesEvery(20, 240, 40, 3, {LED_ON(SAFETY_WARNING_LED);});
+    RunXTimesEvery(0, 240, 40, 3, {LED_OFF(SAFETY_WARNING_LED);});
+  }
+  else if (!PITCH_STICK_CENTERED() && !autopilot_motors_on){
+    RunXTimesEvery(20, 240, 40, 4, {LED_ON(SAFETY_WARNING_LED);});
+    RunXTimesEvery(0, 240, 40, 4, {LED_OFF(SAFETY_WARNING_LED);});
+  }
+  else if (!YAW_STICK_CENTERED() && !autopilot_motors_on){
+    RunXTimesEvery(20, 240, 40, 5, {LED_ON(SAFETY_WARNING_LED);});
+    RunXTimesEvery(0, 240, 40, 5, {LED_OFF(SAFETY_WARNING_LED);});
   }
 #ifdef MIN_BAT_LEVEL
   else if (electrical.vsupply < (MIN_BAT_LEVEL * 10)){