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AP_CANManager: use a switch statement to tidy driver allocation

This commit is contained in:
Peter Barker 2023-04-18 22:59:30 +10:00 committed by Peter Barker
parent 23f628f26b
commit a0ac6f22df
1 changed files with 6 additions and 5 deletions
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11
libraries/AP_CANManager/AP_CANManager.cpp
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@ -199,8 +199,9 @@ void AP_CANManager::init()
}
// Allocate the set type of Driver
switch (drv_type[drv_num]) {
#if HAL_ENABLE_DRONECAN_DRIVERS
if (drv_type[drv_num] == AP_CAN::Protocol::DroneCAN) {
case AP_CAN::Protocol::DroneCAN:
_drivers[drv_num] = _drv_param[drv_num]._uavcan = NEW_NOTHROW AP_DroneCAN(drv_num);
if (_drivers[drv_num] == nullptr) {
@ -209,10 +210,10 @@ void AP_CANManager::init()
}
AP_Param::load_object_from_eeprom((AP_DroneCAN*)_drivers[drv_num], AP_DroneCAN::var_info);
} else
break;
#endif
#if HAL_PICCOLO_CAN_ENABLE
if (drv_type[drv_num] == AP_CAN::Protocol::PiccoloCAN) {
case AP_CAN::Protocol::PiccoloCAN:
_drivers[drv_num] = _drv_param[drv_num]._piccolocan = NEW_NOTHROW AP_PiccoloCAN;
if (_drivers[drv_num] == nullptr) {
@ -221,9 +222,9 @@ void AP_CANManager::init()
}
AP_Param::load_object_from_eeprom((AP_PiccoloCAN*)_drivers[drv_num], AP_PiccoloCAN::var_info);
} else
break;
#endif
{
default:
continue;
}