Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rover: Change the IF statement to a SWITCH statement

This commit is contained in:
muramura 2024-05-02 15:47:00 +09:00 committed by Randy Mackay
parent 7f97e897e2
commit 1e001fa017
1 changed files with 19 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

29
Rover/GCS_Mavlink.cpp
View File

@ -856,10 +856,14 @@ void GCS_MAVLINK_Rover::handle_set_position_target_local_ned(const mavlink_messa
}
// check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_LOCAL_NED &&
packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED &&
packet.coordinate_frame != MAV_FRAME_BODY_NED &&
packet.coordinate_frame != MAV_FRAME_BODY_OFFSET_NED) {
switch (packet.coordinate_frame) {
case MAV_FRAME_LOCAL_NED:
case MAV_FRAME_LOCAL_OFFSET_NED:
case MAV_FRAME_BODY_NED:
case MAV_FRAME_BODY_OFFSET_NED:
break;
default:
return;
}
@ -975,14 +979,19 @@ void GCS_MAVLINK_Rover::handle_set_position_target_global_int(const mavlink_mess
return;
}
// check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_GLOBAL &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
switch (packet.coordinate_frame) {
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_INT:
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
case MAV_FRAME_GLOBAL_TERRAIN_ALT:
case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
break;
default:
return;
}
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;