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AP_Mission: Change the IF statement to a SWITCH statement

This commit is contained in:
muramura 2024-05-02 04:25:14 +09:00 committed by Peter Barker
parent e57994f28f
commit 0cb49559e1
1 changed files with 26 additions and 8 deletions
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34
libraries/AP_Mission/AP_Mission.cpp
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@ -414,10 +414,17 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
} }
if (cmd.id == MAV_CMD_DO_JUMP || cmd.id == MAV_CMD_JUMP_TAG || cmd.id == MAV_CMD_DO_JUMP_TAG) { switch (cmd.id) {
case MAV_CMD_DO_JUMP:
case MAV_CMD_JUMP_TAG:
case MAV_CMD_DO_JUMP_TAG:
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u %s %u", cmd.index, cmd.type(), (unsigned)cmd.p1); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u %s %u", cmd.index, cmd.type(), (unsigned)cmd.p1);
} else { break;
default:
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u %s", cmd.index, cmd.type()); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u %s", cmd.index, cmd.type());
break;
} }
switch (cmd.id) { switch (cmd.id) {
@ -550,13 +557,18 @@ int32_t AP_Mission::get_next_ground_course_cd(int32_t default_angle)
return default_angle; return default_angle;
} }
// special handling for nav commands with no target location // special handling for nav commands with no target location
if (cmd.id == MAV_CMD_NAV_GUIDED_ENABLE || switch (cmd.id) {
cmd.id == MAV_CMD_NAV_DELAY) { case MAV_CMD_NAV_GUIDED_ENABLE:
case MAV_CMD_NAV_DELAY:
return default_angle; return default_angle;
}
if (cmd.id == MAV_CMD_NAV_SET_YAW_SPEED) { case MAV_CMD_NAV_SET_YAW_SPEED:
return (_nav_cmd.content.set_yaw_speed.angle_deg * 100); return (_nav_cmd.content.set_yaw_speed.angle_deg * 100);
default:
break;
} }
return _nav_cmd.content.location.get_bearing_to(cmd.content.location); return _nav_cmd.content.location.get_bearing_to(cmd.content.location);
} }
@ -570,11 +582,17 @@ bool AP_Mission::set_current_cmd(uint16_t index)
// read command to check for DO_LAND_START and DO_RETURN_PATH_START // read command to check for DO_LAND_START and DO_RETURN_PATH_START
Mission_Command cmd; Mission_Command cmd;
if (read_cmd_from_storage(index, cmd)) { if (read_cmd_from_storage(index, cmd)) {
if (cmd.id == MAV_CMD_DO_LAND_START) { switch (cmd.id) {
case MAV_CMD_DO_LAND_START:
_flags.in_landing_sequence = true; _flags.in_landing_sequence = true;
break;
} else if (cmd.id == MAV_CMD_DO_RETURN_PATH_START) { case MAV_CMD_DO_RETURN_PATH_START:
_flags.in_return_path = true; _flags.in_return_path = true;
break;
default:
break;
} }
} }