From 15ea9cd401351f7487cff35333780d6d4ff47e09 Mon Sep 17 00:00:00 2001 From: Diogo Machado Date: Fri, 14 Feb 2014 12:37:10 +0000 Subject: [PATCH] minor cosmetic changes --- src/modules/commander/commander.cpp | 1 - src/modules/mavlink/mavlink_receiver.cpp | 10 ++++------ 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 3687f55fbb..3e5d9dcf61 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1491,7 +1491,6 @@ check_main_state_machine(struct vehicle_status_s *current_status) { /* evaluate the main state machine */ transition_result_t res = TRANSITION_DENIED; - if (current_status->offboard_switch == OFFBOARD_SWITCH_OFFBOARD) { /* offboard switch overrides main switch */ res = main_state_transition(current_status, MAIN_STATE_OFFBOARD); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 62597d91ae..f3345b35f6 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -288,23 +288,21 @@ handle_message(mavlink_message_t *msg) ml_armed = false; break; - case 1: + case OFFBOARD_CONTROL_MODE_DIRECT_RATES: ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES; ml_armed = true; - break; - case 2: + case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE: ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; ml_armed = true; - break; - case 3: + case OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY: ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY; break; - case 4: + case OFFBOARD_CONTROL_MODE_DIRECT_POSITION: ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION; break; }