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AP_ADSB: simplify logic in update_vehicle()

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This commit is contained in:
Tom Pittenger 2016-07-12 13:27:59 -07:00
parent cf77ff6d4f
commit ea0a5c973c
1 changed files with 15 additions and 13 deletions
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28
libraries/AP_ADSB/AP_ADSB.cpp
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@ -359,9 +359,17 @@ void AP_ADSB::update_vehicle(const mavlink_message_t* packet)
adsb_vehicle_t vehicle {};
mavlink_msg_adsb_vehicle_decode(packet, &vehicle.info);
Location_Class vehicle_loc = Location_Class(AP_ADSB::get_location(vehicle));
bool my_loc_is_zero = _my_loc.is_zero();
float my_loc_distance_to_vehicle = _my_loc.get_distance(vehicle_loc);
if (!_my_loc.is_zero() &&
_my_loc.get_distance(vehicle_loc) > in_state.list_radius) {
if (vehicle_loc.is_zero()) {
// invalid vehicle lat/lng. Ignore it.
return;
} else if (in_state.list_radius > 0 &&
!my_loc_is_zero &&
my_loc_distance_to_vehicle > in_state.list_radius) {
// vehicle is out of range. Ignore it.
return;
@ -377,14 +385,11 @@ void AP_ADSB::update_vehicle(const mavlink_message_t* packet)
set_vehicle(in_state.vehicle_count, vehicle);
in_state.vehicle_count++;
} else {
} else if (!my_loc_is_zero &&
!is_zero(avoid_state.lowest_threat_distance) &&
my_loc_distance_to_vehicle < avoid_state.lowest_threat_distance) { // is closer than the furthest
// buffer is full, replace the vehicle with lowest threat as long as it's not further away
if (!is_zero(avoid_state.lowest_threat_distance) && !_my_loc.is_zero()) { // nonzero means it is valid
float distance = _my_loc.get_distance(get_location(vehicle));
if (distance < avoid_state.lowest_threat_distance) { // is closer than the furthest
// overwrite the lowest_threat/furthest
index = avoid_state.lowest_threat_index;
set_vehicle(index, vehicle);
@ -396,13 +401,10 @@ void AP_ADSB::update_vehicle(const mavlink_message_t* packet)
// is it the nearest? Then it's the highest threat. That's an easy check
// that we don't need to run perform_threat_detection() to determine
if (avoid_state.highest_threat_distance > distance) {
avoid_state.highest_threat_distance = distance;
if (avoid_state.highest_threat_distance > my_loc_distance_to_vehicle) {
avoid_state.highest_threat_distance = my_loc_distance_to_vehicle;
avoid_state.highest_threat_index = index;
}
} // if distance
} // if !zero
} // if buffer full
}