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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
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29
Rover/GCS_Mavlink.cpp
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@ -856,10 +856,14 @@ void GCS_MAVLINK_Rover::handle_set_position_target_local_ned(const mavlink_messa
} }
// check for supported coordinate frames // check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_LOCAL_NED && switch (packet.coordinate_frame) {
packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED && case MAV_FRAME_LOCAL_NED:
packet.coordinate_frame != MAV_FRAME_BODY_NED && case MAV_FRAME_LOCAL_OFFSET_NED:
packet.coordinate_frame != MAV_FRAME_BODY_OFFSET_NED) { case MAV_FRAME_BODY_NED:
case MAV_FRAME_BODY_OFFSET_NED:
break;
default:
return; return;
} }
@ -975,14 +979,19 @@ void GCS_MAVLINK_Rover::handle_set_position_target_global_int(const mavlink_mess
return; return;
} }
// check for supported coordinate frames // check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_GLOBAL && switch (packet.coordinate_frame) {
packet.coordinate_frame != MAV_FRAME_GLOBAL_INT && case MAV_FRAME_GLOBAL:
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT && case MAV_FRAME_GLOBAL_INT:
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT && case MAV_FRAME_GLOBAL_RELATIVE_ALT:
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT && case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) { case MAV_FRAME_GLOBAL_TERRAIN_ALT:
case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
break;
default:
return; return;
} }
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE; 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 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; bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;