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Copter: do an early-return if the time hasn't been reached

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Arjun Vinod 2019-02-25 17:05:51 -05:00 committed by Randy Mackay
parent 8644f4d76e
commit 8044d98382
1 changed files with 2 additions and 4 deletions
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6
ArduCopter/mode_auto.cpp
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@ -1750,9 +1750,8 @@ bool Copter::ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
} }
gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index); gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true; return true;
} else {
return false;
} }
return false;
} }
// verify_circle - check if we have circled the point enough // verify_circle - check if we have circled the point enough
@ -1805,9 +1804,8 @@ bool Copter::ModeAuto::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
if (((millis() - loiter_time) / 1000) >= loiter_time_max) { if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index); gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true; return true;
} else {
return false;
} }
return false;
} }
#if NAV_GUIDED == ENABLED #if NAV_GUIDED == ENABLED