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Sub: Simplify some returns

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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2018-06-28 12:18:49 -03:00 committed by Jacob Walser
parent e229d46612
commit 90601c80e9
5 changed files with 13 additions and 20 deletions
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3
ArduSub/Attitude.cpp
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@ -199,7 +199,6 @@ uint16_t Sub::get_pilot_speed_dn()
{
if (g.pilot_speed_dn == 0) {
return abs(g.pilot_speed_up);
} else {
}
return abs(g.pilot_speed_dn);
}
}

7
ArduSub/commands.cpp
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@ -105,10 +105,5 @@ bool Sub::far_from_EKF_origin(const Location& loc)
{
// check distance to EKF origin
const struct Location &ekf_origin = inertial_nav.get_origin();
if (get_distance(ekf_origin, loc) > EKF_ORIGIN_MAX_DIST_M) {
return true;
}
// close enough to origin
return false;
return (get_distance(ekf_origin, loc) > EKF_ORIGIN_MAX_DIST_M);
}

5
ArduSub/control_althold.cpp
View File

@ -66,11 +66,10 @@ void Sub::althold_run()
attitude_control.input_euler_angle_roll_pitch_yaw(target_roll * 1e2f, target_pitch * 1e2f, target_yaw * 1e2f, true);
return;
} else {
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max());
}
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max());
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());

9
ArduSub/flight_mode.cpp
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@ -194,10 +194,11 @@ bool Sub::mode_has_manual_throttle(control_mode_t mode)
// arming_from_gcs should be set to true if the arming request comes from the ground station
bool Sub::mode_allows_arming(control_mode_t mode, bool arming_from_gcs)
{
if (mode_has_manual_throttle(mode) || mode == ALT_HOLD || mode == POSHOLD || (arming_from_gcs && mode == GUIDED)) {
return true;
}
return false;
return (mode_has_manual_throttle(mode)
|| mode == ALT_HOLD
|| mode == POSHOLD
|| (arming_from_gcs&& mode == GUIDED)
);
}
// notify_flight_mode - sets notify object based on flight mode. Only used for OreoLED notify device

7
ArduSub/system.cpp
View File

@ -259,11 +259,11 @@ bool Sub::ekf_position_ok()
// if disarmed we accept a predicted horizontal position
if (!motors.armed()) {
return ((filt_status.flags.horiz_pos_abs || filt_status.flags.pred_horiz_pos_abs));
} else {
}
// once armed we require a good absolute position and EKF must not be in const_pos_mode
return (filt_status.flags.horiz_pos_abs && !filt_status.flags.const_pos_mode);
}
}
// optflow_position_ok - returns true if optical flow based position estimate is ok
bool Sub::optflow_position_ok()
@ -282,9 +282,8 @@ bool Sub::optflow_position_ok()
// if disarmed we accept a predicted horizontal relative position
if (!motors.armed()) {
return (filt_status.flags.pred_horiz_pos_rel);
} else {
return (filt_status.flags.horiz_pos_rel && !filt_status.flags.const_pos_mode);
}
return (filt_status.flags.horiz_pos_rel && !filt_status.flags.const_pos_mode);
#endif
}