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AP_ExternalAHRS_VectorNav: Minor code clarity improvements

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Add clarity to send_command_blocking by improving comment and directly returning instead of breaking
This commit is contained in:
BLash 2024-07-09 10:53:16 -05:00 committed by Andrew Tridgell
parent 1288810c70
commit ed6ee51783
1 changed files with 10 additions and 13 deletions
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23
libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
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@ -287,7 +287,7 @@ reset:
}
// Send command and wait for response
// Only run from thread! This blocks until a response is received
// Only run from thread! This blocks and retries until a non-error response is received
#define READ_REQUEST_RETRY_MS 500
void AP_ExternalAHRS_VectorNav::send_command_blocking()
{
@ -380,33 +380,30 @@ bool AP_ExternalAHRS_VectorNav::decode_latest_term()
// message. If not, the response is invalid.
switch (nmea.term_number) {
case 0:
if (strncmp(nmea.term, message_to_send, nmea.term_offset) != 0) { // ignore sync byte in comparison
if (strncmp(nmea.term, message_to_send, nmea.term_offset) != 0) {
return false;
} else if (strncmp(nmea.term, "VNERR", nmea.term_offset) == 0) {
}
if (strncmp(nmea.term, "VNERR", nmea.term_offset) == 0) {
nmea.error_response = true; // Message will be printed on next term
}
break;
return true;
case 1:
if (nmea.error_response) {
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "VectorNav received VNERR code: %s", nmea.term);
break;
}
if (strncmp(nmea.term, message_to_send + 6,
nmea.term_offset) != 0) { // Start after "VNXXX,"
} else if (strncmp(nmea.term, message_to_send + 6,
nmea.term_offset) != 0) { // Start after "VNXXX,"
return false;
}
break;
return true;
case 2:
if (strncmp(nmea.term, "VN-", 3) == 0) {
// This term is the model number
strncpy(model_name, nmea.term, sizeof(model_name));
break;
}
break;
return true;
default:
break;
return true;
}
return true;
}
void AP_ExternalAHRS_VectorNav::initialize() {