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mc_pos_control: simplify unnecessary complicated boolean conditions

This commit is contained in:
Matthias Grob 2017-10-06 10:49:43 +02:00 committed by Dennis Mannhart
parent e1b970c30d
commit c177d6491a
1 changed files with 10 additions and 16 deletions
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26
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -809,22 +809,14 @@ MulticopterPositionControl::poll_subscriptions()
/* we need either a valid position setpoint or a valid velocity setpoint */
if (PX4_ISFINITE(_pos_sp_triplet.current.lat) && PX4_ISFINITE(_pos_sp_triplet.current.lon)
&& PX4_ISFINITE(_pos_sp_triplet.current.alt) && _pos_sp_triplet.current.valid) {
_pos_sp_triplet.current.valid = true;
} else if (PX4_ISFINITE(_pos_sp_triplet.current.alt) && _pos_sp_triplet.current.valid) {
_pos_sp_triplet.current.valid = true;
} else {
if (!PX4_ISFINITE(_pos_sp_triplet.current.alt)) {
_pos_sp_triplet.current.valid = false;
}
if (PX4_ISFINITE(_pos_sp_triplet.previous.lat) && PX4_ISFINITE(_pos_sp_triplet.previous.lon)
&& PX4_ISFINITE(_pos_sp_triplet.previous.alt) && _pos_sp_triplet.previous.valid) {
_pos_sp_triplet.previous.valid = true;
} else {
if (!PX4_ISFINITE(_pos_sp_triplet.previous.lat) ||
!PX4_ISFINITE(_pos_sp_triplet.previous.lon) ||
!PX4_ISFINITE(_pos_sp_triplet.previous.alt)) {
_pos_sp_triplet.previous.valid = false;
}
}
@ -3132,10 +3124,12 @@ MulticopterPositionControl::task_main()
* attitude setpoints for the transition).
* - if not armed
*/
if (_control_mode.flag_armed && (!(_control_mode.flag_control_offboard_enabled &&
!(_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled ||
_control_mode.flag_control_acceleration_enabled)))) {
if (_control_mode.flag_armed &&
(!(_control_mode.flag_control_offboard_enabled &&
!(_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled ||
_control_mode.flag_control_acceleration_enabled)))) {
if (_att_sp_pub != nullptr) {
orb_publish(_attitude_setpoint_id, _att_sp_pub, &_att_sp);