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Improve readibility of ternary

This commit is contained in:
Julian Kent 2020-03-02 17:42:53 +01:00 committed by Julian Kent
parent 678e32caf7
commit e173df80a1
1 changed files with 2 additions and 4 deletions
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6
src/modules/commander/Commander.cpp
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@ -3730,10 +3730,8 @@ void Commander::avoidance_check()
|| _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND;
const bool pos_ctl_mode = _internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL;
const bool sensor_oa_enabled = ((auto_mode && status_flags.avoidance_system_required) || (pos_ctl_mode
&& cp_enabled)) ? true : false;
const bool sensor_oa_healthy = ((auto_mode && status_flags.avoidance_system_valid) || (pos_ctl_mode
&& cp_healthy)) ? true : false;
const bool sensor_oa_enabled = ((auto_mode && status_flags.avoidance_system_required) || (pos_ctl_mode && cp_enabled));
const bool sensor_oa_healthy = ((auto_mode && status_flags.avoidance_system_valid) || (pos_ctl_mode && cp_healthy));
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_OBSTACLE_AVOIDANCE, sensor_oa_present, sensor_oa_enabled,
sensor_oa_healthy, status);