From 48ed350b2589dcc71533bf7979f56d1d6f78dba8 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 13 Oct 2021 15:01:40 +0200 Subject: [PATCH] ManualControlSelector: simplification refactoring - clang tidy did't like {bool} == true in a condition - setpoint_from_input() got small enough ot just put in line --- .../manual_control/ManualControlSelector.cpp | 13 +++---------- .../manual_control/ManualControlSelector.hpp | 1 - 2 files changed, 3 insertions(+), 11 deletions(-) diff --git a/src/modules/manual_control/ManualControlSelector.cpp b/src/modules/manual_control/ManualControlSelector.cpp index 000a270f59..b82f5b919f 100644 --- a/src/modules/manual_control/ManualControlSelector.cpp +++ b/src/modules/manual_control/ManualControlSelector.cpp @@ -50,12 +50,12 @@ void ManualControlSelector::updateWithNewInputSample(uint64_t now, const manual_ // First check if the chosen input got invalid, so it can get replaced updateValidityOfChosenInput(now); - const bool update_existing_input = _setpoint.valid == true && input.data_source == _setpoint.chosen_input.data_source; - const bool start_using_new_input = _setpoint.valid == false; + const bool update_existing_input = _setpoint.valid && input.data_source == _setpoint.chosen_input.data_source; + const bool start_using_new_input = !_setpoint.valid; // Switch to new input if it's valid and we don't already have a valid one if (isInputValid(input, now) && (update_existing_input || start_using_new_input)) { - _setpoint = setpoint_from_input(input); + _setpoint.chosen_input = input; _setpoint.valid = true; _instance = instance; } @@ -82,13 +82,6 @@ bool ManualControlSelector::isInputValid(const manual_control_input_s &input, ui && (source_rc_matched || source_mavlink_matched || source_any_matched); } -manual_control_setpoint_s ManualControlSelector::setpoint_from_input(const manual_control_input_s &input) -{ - manual_control_setpoint_s setpoint; - setpoint.chosen_input = input; - return setpoint; -} - manual_control_setpoint_s &ManualControlSelector::setpoint() { return _setpoint; diff --git a/src/modules/manual_control/ManualControlSelector.hpp b/src/modules/manual_control/ManualControlSelector.hpp index 883ffca077..220c2b7a03 100644 --- a/src/modules/manual_control/ManualControlSelector.hpp +++ b/src/modules/manual_control/ManualControlSelector.hpp @@ -52,7 +52,6 @@ public: private: bool isInputValid(const manual_control_input_s &input, uint64_t now) const; - static manual_control_setpoint_s setpoint_from_input(const manual_control_input_s &input); manual_control_setpoint_s _setpoint{}; uint64_t _timeout{0};