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AP_Landing: use FALLTHROUGH define

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When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
This commit is contained in:
Lucas De Marchi 2017-08-22 10:28:10 -07:00
parent 0e502d89a3
commit b37ca322f1
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_Landing/AP_Landing_Deepstall.cpp
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@ -177,7 +177,7 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
} }
stage = DEEPSTALL_STAGE_ESTIMATE_WIND; stage = DEEPSTALL_STAGE_ESTIMATE_WIND;
loiter_sum_cd = 0; // reset the loiter counter loiter_sum_cd = 0; // reset the loiter counter
// no break FALLTHROUGH;
case DEEPSTALL_STAGE_ESTIMATE_WIND: case DEEPSTALL_STAGE_ESTIMATE_WIND:
{ {
landing.nav_controller->update_loiter(landing_point, landing.aparm.loiter_radius, 1); landing.nav_controller->update_loiter(landing_point, landing.aparm.loiter_radius, 1);
@ -199,7 +199,7 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
} }
stage = DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT; stage = DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT;
loiter_sum_cd = 0; // reset the loiter counter loiter_sum_cd = 0; // reset the loiter counter
// no break FALLTHROUGH;
} }
case DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT: case DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT:
// rebuild the approach path if we have done less then a full circle to allow it to be // rebuild the approach path if we have done less then a full circle to allow it to be
@ -221,14 +221,14 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
} }
stage = DEEPSTALL_STAGE_FLY_TO_ARC; stage = DEEPSTALL_STAGE_FLY_TO_ARC;
memcpy(&breakout_location, &current_loc, sizeof(Location)); memcpy(&breakout_location, &current_loc, sizeof(Location));
// no break FALLTHROUGH;
case DEEPSTALL_STAGE_FLY_TO_ARC: case DEEPSTALL_STAGE_FLY_TO_ARC:
if (get_distance(current_loc, arc_entry) > 2 * landing.aparm.loiter_radius) { if (get_distance(current_loc, arc_entry) > 2 * landing.aparm.loiter_radius) {
landing.nav_controller->update_waypoint(breakout_location, arc_entry); landing.nav_controller->update_waypoint(breakout_location, arc_entry);
return false; return false;
} }
stage = DEEPSTALL_STAGE_ARC; stage = DEEPSTALL_STAGE_ARC;
// no break FALLTHROUGH;
case DEEPSTALL_STAGE_ARC: case DEEPSTALL_STAGE_ARC:
{ {
Vector2f groundspeed = landing.ahrs.groundspeed_vector(); Vector2f groundspeed = landing.ahrs.groundspeed_vector();
@ -240,7 +240,7 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
} }
stage = DEEPSTALL_STAGE_APPROACH; stage = DEEPSTALL_STAGE_APPROACH;
} }
// no break FALLTHROUGH;
case DEEPSTALL_STAGE_APPROACH: case DEEPSTALL_STAGE_APPROACH:
{ {
Location entry_point; Location entry_point;
@ -274,7 +274,7 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
} }
L1_xtrack_i = 0; // reset the integrators L1_xtrack_i = 0; // reset the integrators
} }
// no break FALLTHROUGH;
case DEEPSTALL_STAGE_LAND: case DEEPSTALL_STAGE_LAND:
// while in deepstall the only thing verify needs to keep the extended approach point sufficently far away // while in deepstall the only thing verify needs to keep the extended approach point sufficently far away
landing.nav_controller->update_waypoint(current_loc, extended_approach); landing.nav_controller->update_waypoint(current_loc, extended_approach);