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ArduCopter: 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 927289aa64
commit be402374ea
3 changed files with 14 additions and 13 deletions
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20
ArduCopter/commands_logic.cpp
View File

@ -748,14 +748,14 @@ bool Copter::verify_payload_place()
// we're there; set loiter target // we're there; set loiter target
auto_payload_place_start(wp_nav->get_wp_destination()); auto_payload_place_start(wp_nav->get_wp_destination());
nav_payload_place.state = PayloadPlaceStateType_Calibrating_Hover_Start; nav_payload_place.state = PayloadPlaceStateType_Calibrating_Hover_Start;
// no break FALLTHROUGH;
case PayloadPlaceStateType_Calibrating_Hover_Start: case PayloadPlaceStateType_Calibrating_Hover_Start:
// hover for 1 second to get an idea of what our hover // hover for 1 second to get an idea of what our hover
// throttle looks like // throttle looks like
debug("Calibrate start"); debug("Calibrate start");
nav_payload_place.hover_start_timestamp = now; nav_payload_place.hover_start_timestamp = now;
nav_payload_place.state = PayloadPlaceStateType_Calibrating_Hover; nav_payload_place.state = PayloadPlaceStateType_Calibrating_Hover;
// no break FALLTHROUGH;
case PayloadPlaceStateType_Calibrating_Hover: { case PayloadPlaceStateType_Calibrating_Hover: {
if (now - nav_payload_place.hover_start_timestamp < hover_throttle_calibrate_time) { if (now - nav_payload_place.hover_start_timestamp < hover_throttle_calibrate_time) {
// still calibrating... // still calibrating...
@ -768,13 +768,13 @@ bool Copter::verify_payload_place()
gcs().send_text(MAV_SEVERITY_INFO, "hover throttle delta: %f", static_cast<double>(hover_throttle_delta)); gcs().send_text(MAV_SEVERITY_INFO, "hover throttle delta: %f", static_cast<double>(hover_throttle_delta));
nav_payload_place.state = PayloadPlaceStateType_Descending_Start; nav_payload_place.state = PayloadPlaceStateType_Descending_Start;
} }
// no break FALLTHROUGH;
case PayloadPlaceStateType_Descending_Start: case PayloadPlaceStateType_Descending_Start:
nav_payload_place.descend_start_timestamp = now; nav_payload_place.descend_start_timestamp = now;
nav_payload_place.descend_start_altitude = inertial_nav.get_altitude(); nav_payload_place.descend_start_altitude = inertial_nav.get_altitude();
nav_payload_place.descend_throttle_level = 0; nav_payload_place.descend_throttle_level = 0;
nav_payload_place.state = PayloadPlaceStateType_Descending; nav_payload_place.state = PayloadPlaceStateType_Descending;
// no break FALLTHROUGH;
case PayloadPlaceStateType_Descending: case PayloadPlaceStateType_Descending:
// make sure we don't descend too far: // make sure we don't descend too far:
debug("descended: %f cm (%f cm max)", (nav_payload_place.descend_start_altitude - inertial_nav.get_altitude()), nav_payload_place.descend_max); debug("descended: %f cm (%f cm max)", (nav_payload_place.descend_start_altitude - inertial_nav.get_altitude()), nav_payload_place.descend_max);
@ -808,7 +808,7 @@ bool Copter::verify_payload_place()
return false; return false;
} }
nav_payload_place.state = PayloadPlaceStateType_Releasing_Start; nav_payload_place.state = PayloadPlaceStateType_Releasing_Start;
// no break FALLTHROUGH;
case PayloadPlaceStateType_Releasing_Start: case PayloadPlaceStateType_Releasing_Start:
#if GRIPPER_ENABLED == ENABLED #if GRIPPER_ENABLED == ENABLED
if (g2.gripper.valid()) { if (g2.gripper.valid()) {
@ -823,7 +823,7 @@ bool Copter::verify_payload_place()
gcs().send_text(MAV_SEVERITY_INFO, "Gripper code disabled"); gcs().send_text(MAV_SEVERITY_INFO, "Gripper code disabled");
#endif #endif
nav_payload_place.state = PayloadPlaceStateType_Releasing; nav_payload_place.state = PayloadPlaceStateType_Releasing;
// no break FALLTHROUGH;
case PayloadPlaceStateType_Releasing: case PayloadPlaceStateType_Releasing:
#if GRIPPER_ENABLED == ENABLED #if GRIPPER_ENABLED == ENABLED
if (g2.gripper.valid() && !g2.gripper.released()) { if (g2.gripper.valid() && !g2.gripper.released()) {
@ -831,24 +831,24 @@ bool Copter::verify_payload_place()
} }
#endif #endif
nav_payload_place.state = PayloadPlaceStateType_Released; nav_payload_place.state = PayloadPlaceStateType_Released;
// no break FALLTHROUGH;
case PayloadPlaceStateType_Released: { case PayloadPlaceStateType_Released: {
nav_payload_place.state = PayloadPlaceStateType_Ascending_Start; nav_payload_place.state = PayloadPlaceStateType_Ascending_Start;
} }
// no break FALLTHROUGH;
case PayloadPlaceStateType_Ascending_Start: { case PayloadPlaceStateType_Ascending_Start: {
Location_Class target_loc = inertial_nav.get_position(); Location_Class target_loc = inertial_nav.get_position();
target_loc.alt = nav_payload_place.descend_start_altitude; target_loc.alt = nav_payload_place.descend_start_altitude;
auto_wp_start(target_loc); auto_wp_start(target_loc);
nav_payload_place.state = PayloadPlaceStateType_Ascending; nav_payload_place.state = PayloadPlaceStateType_Ascending;
} }
// no break FALLTHROUGH;
case PayloadPlaceStateType_Ascending: case PayloadPlaceStateType_Ascending:
if (!wp_nav->reached_wp_destination()) { if (!wp_nav->reached_wp_destination()) {
return false; return false;
} }
nav_payload_place.state = PayloadPlaceStateType_Done; nav_payload_place.state = PayloadPlaceStateType_Done;
// no break FALLTHROUGH;
case PayloadPlaceStateType_Done: case PayloadPlaceStateType_Done:
return true; return true;
default: default:

3
ArduCopter/control_autotune.cpp
View File

@ -183,7 +183,8 @@ bool Copter::autotune_init(bool ignore_checks)
case AUTOTUNE_MODE_FAILED: case AUTOTUNE_MODE_FAILED:
// autotune has been run but failed so reset state to uninitialized // autotune has been run but failed so reset state to uninitialized
autotune_state.mode = AUTOTUNE_MODE_UNINITIALISED; autotune_state.mode = AUTOTUNE_MODE_UNINITIALISED;
// no break to allow fall through to restart the tuning // fall through to restart the tuning
FALLTHROUGH;
case AUTOTUNE_MODE_UNINITIALISED: case AUTOTUNE_MODE_UNINITIALISED:
// autotune has never been run // autotune has never been run

4
ArduCopter/navigation.cpp
View File

@ -40,7 +40,7 @@ void Copter::calc_wp_distance()
wp_distance = wp_nav->get_wp_distance_to_destination(); wp_distance = wp_nav->get_wp_distance_to_destination();
break; break;
} }
// no break FALLTHROUGH;
default: default:
wp_distance = 0; wp_distance = 0;
break; break;
@ -67,7 +67,7 @@ void Copter::calc_wp_bearing()
wp_bearing = wp_nav->get_wp_bearing_to_destination(); wp_bearing = wp_nav->get_wp_bearing_to_destination();
break; break;
} }
// no break FALLTHROUGH;
default: default:
wp_bearing = 0; wp_bearing = 0;
break; break;