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AP_RangeFinder: remove break in LEDDARONE_MODOBUS_INIT case and and use () around (read_len == 0) for clarity

This commit is contained in:
Shingo Matsuura 2016-11-05 03:07:42 +09:00 committed by Randy Mackay
parent 023c613196
commit 5b5c482e55
1 changed files with 2 additions and 3 deletions
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5
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
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@ -62,7 +62,6 @@ bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
memset(read_buffer, 0, sizeof(read_buffer));
read_len = 0;
modbus_status = LEDDARONE_MODBUS_PRE_SEND_REQUEST;
break;
case LEDDARONE_MODBUS_PRE_SEND_REQUEST:
// send a request message for Modbus function 4
@ -82,7 +81,7 @@ bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
if (AP_HAL::millis() - last_sending_request_ms > 200) {
// reset mod_bus status to read new buffer
// if read_len is zero, send request without initialize
modbus_status = read_len == 0 ? LEDDARONE_MODBUS_PRE_SEND_REQUEST : LEDDARONE_MODBUS_INIT;
modbus_status = (read_len == 0) ? LEDDARONE_MODBUS_PRE_SEND_REQUEST : LEDDARONE_MODBUS_INIT;
}
}
break;
@ -102,7 +101,7 @@ bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
// if status is not reading buffer, reset mod_bus status to read new buffer
else if (leddarone_status != LEDDARONE_READING_BUFFER) {
// if read_len is zero, send request without initialize
modbus_status = read_len == 0 ? LEDDARONE_MODBUS_PRE_SEND_REQUEST : LEDDARONE_MODBUS_INIT;
modbus_status = (read_len == 0) ? LEDDARONE_MODBUS_PRE_SEND_REQUEST : LEDDARONE_MODBUS_INIT;
}
break;
}