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AC_WPNav_OA: minor formatting and comment fixes

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Randy Mackay 2021-07-14 19:37:38 +09:00 committed by Andrew Tridgell
parent 3242bd0ee8
commit 6dd100df7b
1 changed files with 7 additions and 6 deletions
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13
libraries/AC_WPNav/AC_WPNav_OA.cpp
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@ -87,7 +87,9 @@ bool AC_WPNav_OA::update_wpnav()
Location oa_origin_new, oa_destination_new;
AP_OAPathPlanner::OAPathPlannerUsed path_planner_used = AP_OAPathPlanner::OAPathPlannerUsed::None;
const AP_OAPathPlanner::OA_RetState oa_retstate = oa_ptr->mission_avoidance(current_loc, origin_loc, destination_loc, oa_origin_new, oa_destination_new, path_planner_used);
switch (oa_retstate) {
case AP_OAPathPlanner::OA_NOT_REQUIRED:
if (_oa_state != oa_retstate) {
// object avoidance has become inactive so reset target to original destination
@ -95,6 +97,7 @@ bool AC_WPNav_OA::update_wpnav()
_oa_state = oa_retstate;
}
break;
case AP_OAPathPlanner::OA_PROCESSING:
case AP_OAPathPlanner::OA_ERROR:
// during processing or in case of error stop the vehicle
@ -109,6 +112,7 @@ bool AC_WPNav_OA::update_wpnav()
}
}
break;
case AP_OAPathPlanner::OA_SUCCESS:
// handling of returned destination depends upon path planner used
@ -170,8 +174,7 @@ bool AC_WPNav_OA::update_wpnav()
return true;
}
case AP_OAPathPlanner::OAPathPlannerUsed::BendyRulerVertical:
{
case AP_OAPathPlanner::OAPathPlannerUsed::BendyRulerVertical: {
_oa_state = oa_retstate;
_oa_destination = oa_destination_new;
@ -190,14 +193,12 @@ bool AC_WPNav_OA::update_wpnav()
// update horizontal position controller (vertical is updated in vehicle code)
_pos_control.update_xy_controller();
// Note: do not update yaw or yaw rate as we do for BendyRuler horizontal
// return success without calling parent AC_WPNav
return true;
}
} // case AP_OAPathPlanner::OA_SUCCESS
} // switch (oa_retstate)
}
}
}
// run the non-OA update