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Copter: cleanup some bit if tests to be clearer

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Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
This commit is contained in:
Andrew Tridgell 2013-04-23 23:03:34 +10:00
parent 709a277c7f
commit 5ad9deecfb
4 changed files with 6 additions and 6 deletions
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4
ArduCopter/ArduCopter.pde
View File

@ -1075,7 +1075,7 @@ static void medium_loop()
medium_loopCounter++;
// log compass information
if (motors.armed() && g.log_bitmask & MASK_LOG_COMPASS) {
if (motors.armed() && (g.log_bitmask & MASK_LOG_COMPASS)) {
Log_Write_Compass();
}
@ -1097,7 +1097,7 @@ static void medium_loop()
// perform next command
// --------------------
if(control_mode == AUTO) {
if(ap.home_is_set && g.command_total > 1) {
if(ap.home_is_set && (g.command_total > 1)) {
update_commands();
}
}

2
ArduCopter/commands.pde
View File

@ -50,7 +50,7 @@ static struct Location get_cmd_with_index(int i)
}
// Add on home altitude if we are a nav command (or other command with altitude) and stored alt is relative
//if((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) && temp.options & MASK_OPTIONS_RELATIVE_ALT){
//if((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) && (temp.options & MASK_OPTIONS_RELATIVE_ALT)){
//temp.alt += home.alt;
//}

4
ArduCopter/inertia.pde
View File

@ -8,7 +8,7 @@ static void read_inertia()
// inertial altitude estimates
inertial_nav.update(G_Dt);
if( motors.armed() && g.log_bitmask & MASK_LOG_INAV ) {
if( motors.armed() && (g.log_bitmask & MASK_LOG_INAV) ) {
log_counter_inav++;
if( log_counter_inav >= 10 ) {
log_counter_inav = 0;
@ -23,4 +23,4 @@ static void read_inertial_altitude()
// with inertial nav we can update the altitude and climb rate at 50hz
current_loc.alt = inertial_nav.get_altitude();
climb_rate = inertial_nav.get_velocity_z();
}
}

2
ArduCopter/navigation.pde
View File

@ -20,7 +20,7 @@ static void update_navigation()
update_nav_mode();
// update log
if (g.log_bitmask & MASK_LOG_NTUN && motors.armed()) {
if ((g.log_bitmask & MASK_LOG_NTUN) && motors.armed()) {
Log_Write_Nav_Tuning();
}
}