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Rover: fixed coverity issue around loiter logic

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TsuyoshiKawamura 2019-01-10 19:46:43 +09:00 committed by Randy Mackay
parent 41fd596c06
commit 5575eeddab
1 changed files with 15 additions and 6 deletions
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21
APMrover2/mode_guided.cpp
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@ -31,8 +31,11 @@ void ModeGuided::update()
calc_steering_to_waypoint(_reached_destination ? rover.current_loc : _origin, _destination, _reversed); calc_steering_to_waypoint(_reached_destination ? rover.current_loc : _origin, _destination, _reversed);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true); calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
} else { } else {
if (rover.is_boat() && !start_loiter()) { // we have reached the destination so stay here
stop_vehicle(); if (rover.is_boat()) {
if (!start_loiter()) {
stop_vehicle();
}
} else { } else {
stop_vehicle(); stop_vehicle();
} }
@ -52,8 +55,11 @@ void ModeGuided::update()
calc_steering_to_heading(_desired_yaw_cd); calc_steering_to_heading(_desired_yaw_cd);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_desired_speed), true, true); calc_throttle(calc_reduced_speed_for_turn_or_distance(_desired_speed), true, true);
} else { } else {
if (rover.is_boat() && !start_loiter()) { // we have reached the destination so stay here
stop_vehicle(); if (rover.is_boat()) {
if (!start_loiter()) {
stop_vehicle();
}
} else { } else {
stop_vehicle(); stop_vehicle();
} }
@ -77,8 +83,11 @@ void ModeGuided::update()
g2.motors.set_steering(steering_out * 4500.0f); g2.motors.set_steering(steering_out * 4500.0f);
calc_throttle(_desired_speed, true, true); calc_throttle(_desired_speed, true, true);
} else { } else {
if (rover.is_boat() && !start_loiter()) { // we have reached the destination so stay here
stop_vehicle(); if (rover.is_boat()) {
if (!start_loiter()) {
stop_vehicle();
}
} else { } else {
stop_vehicle(); stop_vehicle();
} }