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AP_Baro: Changed if statements to switch statement.

This commit is contained in:
murata 2016-12-20 21:21:20 +09:00 committed by Francisco Ferreira
parent 47f1a754c5
commit 753638851e
1 changed files with 17 additions and 7 deletions
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24
libraries/AP_Baro/AP_Baro.cpp
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@ -323,27 +323,37 @@ void AP_Baro::init(void)
}
#if HAL_BARO_DEFAULT == HAL_BARO_PX4 || HAL_BARO_DEFAULT == HAL_BARO_VRBRAIN
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PX4V1) {
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1:
#ifdef HAL_BARO_MS5611_I2C_BUS
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR))));
#endif
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PHMINI ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PH2SLIM) {
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
case AP_BoardConfig::PX4_BOARD_PHMINI:
case AP_BoardConfig::PX4_BOARD_PH2SLIM:
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_EXT_NAME))));
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXRACER) {
break;
case AP_BoardConfig::PX4_BOARD_PIXRACER:
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_INT_NAME))));
} else {
break;
default:
drivers[0] = new AP_Baro_PX4(*this);
_num_drivers = 1;
break;
}
#elif HAL_BARO_DEFAULT == HAL_BARO_HIL
drivers[0] = new AP_Baro_HIL(*this);