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AP_Mission: Initialize return variables

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murata 2022-09-25 14:25:08 +09:00 committed by Peter Barker
parent aa95dfb15e
commit ca8e60a590
1 changed files with 1 additions and 5 deletions
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6
libraries/AP_Mission/AP_Mission.cpp
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@ -2291,7 +2291,7 @@ bool AP_Mission::distance_to_landing(uint16_t index, float &tot_distance, Locati
{
Mission_Command temp_cmd;
tot_distance = 0.0f;
bool ret;
bool ret = false; // reached end of loop without getting to a landing
// back up jump tracking to reset after distance calculation
jump_tracking_struct _jump_tracking_backup[AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS];
@ -2306,14 +2306,12 @@ bool AP_Mission::distance_to_landing(uint16_t index, float &tot_distance, Locati
// get next command
if (!get_next_cmd(cmd_index, temp_cmd, true, false)) {
// we got to the end of the mission
ret = false;
goto reset_do_jump_tracking;
}
if (temp_cmd.id == MAV_CMD_NAV_WAYPOINT || temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT || is_landing_type_cmd(temp_cmd.id)) {
break;
} else if (is_nav_cmd(temp_cmd) || temp_cmd.id == MAV_CMD_CONDITION_DELAY) {
// if we receive a nav command that we dont handle then give up as cant measure the distance e.g. MAV_CMD_NAV_LOITER_UNLIM
ret = false;
goto reset_do_jump_tracking;
}
}
@ -2334,8 +2332,6 @@ bool AP_Mission::distance_to_landing(uint16_t index, float &tot_distance, Locati
goto reset_do_jump_tracking;
}
}
// reached end of loop without getting to a landing
ret = false;
reset_do_jump_tracking:
for (uint8_t i=0; i<AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS; i++) {