From e7ff5107fb480e02f1063fb53c798a9d080518b9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 26 Jul 2017 10:19:37 +1000
Subject: [PATCH] AP_GPS: tidy mavlink message handling using switch statement

---
 libraries/AP_GPS/AP_GPS.cpp | 23 +++++++++++++----------
 1 file changed, 13 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 5c779daf01..7c26ed2184 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -751,20 +751,23 @@ void AP_GPS::handle_gps_inject(const mavlink_message_t *msg)
  */
 void AP_GPS::handle_msg(const mavlink_message_t *msg)
 {
-    if (msg->msgid == MAVLINK_MSG_ID_GPS_RTCM_DATA) {
+    switch (msg->msgid) {
+    case MAVLINK_MSG_ID_GPS_RTCM_DATA:
         // pass data to de-fragmenter
         handle_gps_rtcm_data(msg);
-        return;
-    }
-    if (msg->msgid == MAVLINK_MSG_ID_GPS_INJECT_DATA) {
+        break;
+    case MAVLINK_MSG_ID_GPS_INJECT_DATA:
         handle_gps_inject(msg);
-        return;
-    }
-    uint8_t i;
-    for (i=0; i<num_instances; i++) {
-        if ((drivers[i] != nullptr) && (_type[i] != GPS_TYPE_NONE)) {
-            drivers[i]->handle_msg(msg);
+        break;
+    default: {
+        uint8_t i;
+        for (i=0; i<num_instances; i++) {
+            if ((drivers[i] != nullptr) && (_type[i] != GPS_TYPE_NONE)) {
+                drivers[i]->handle_msg(msg);
+            }
         }
+        break;
+    }
     }
 }