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SRV_Channel : Improved should_e_stop method by using switch

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This method earlier used >=, <= and == operators which is less maintainable. Hence, I replaced it by switch.

Co-Authored-By: Peter Barker <pb-gh@barker.dropbear.id.au>
This commit is contained in:
Shiv Tyagi 2021-09-18 11:04:03 +05:30 committed by Peter Barker
parent 30589f9b29
commit a24a8c110b
1 changed files with 26 additions and 5 deletions
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31
libraries/SRV_Channel/SRV_Channel.cpp
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@ -220,11 +220,32 @@ bool SRV_Channel::is_motor(SRV_Channel::Aux_servo_function_t function)
// return true if function is for anything that should be stopped in a e-stop situation, ie is dangerous
bool SRV_Channel::should_e_stop(SRV_Channel::Aux_servo_function_t function)
{
return ((function >= SRV_Channel::k_heli_rsc && function <= SRV_Channel::k_motor8) ||
function == SRV_Channel::k_starter || function == SRV_Channel::k_throttle ||
function == SRV_Channel::k_throttleLeft || function == SRV_Channel::k_throttleRight ||
(function >= SRV_Channel::k_boost_throttle && function <= SRV_Channel::k_motor12) ||
function == k_engine_run_enable);
switch (function) {
case Aux_servo_function_t::k_heli_rsc:
case Aux_servo_function_t::k_heli_tail_rsc:
case Aux_servo_function_t::k_motor1:
case Aux_servo_function_t::k_motor2:
case Aux_servo_function_t::k_motor3:
case Aux_servo_function_t::k_motor4:
case Aux_servo_function_t::k_motor5:
case Aux_servo_function_t::k_motor6:
case Aux_servo_function_t::k_motor7:
case Aux_servo_function_t::k_motor8:
case Aux_servo_function_t::k_starter:
case Aux_servo_function_t::k_throttle:
case Aux_servo_function_t::k_throttleLeft:
case Aux_servo_function_t::k_throttleRight:
case Aux_servo_function_t::k_boost_throttle:
case Aux_servo_function_t::k_motor9:
case Aux_servo_function_t::k_motor10:
case Aux_servo_function_t::k_motor11:
case Aux_servo_function_t::k_motor12:
case Aux_servo_function_t::k_engine_run_enable:
return true;
default:
return false;
}
return false;
}
// return true if function is for a control surface