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df_mpu9250_wrapper: bool comparison without ==

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I prefer this way because I think it's more readable.
This commit is contained in:
Julian Oes
2016-05-31 16:43:13 +02:00
committed by Lorenz Meier
parent b0b7832048
commit 4e54bed051
1 changed files with 9 additions and 9 deletions
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src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+9 -9
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@@ -213,7 +213,7 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled) :
_gyro_calibration.y_offset = 0.0f; _gyro_calibration.y_offset = 0.0f;
_gyro_calibration.z_offset = 0.0f; _gyro_calibration.z_offset = 0.0f;
if (_mag_enabled == true) { if (_mag_enabled) {
_mag_calibration.x_scale = 1.0f; _mag_calibration.x_scale = 1.0f;
_mag_calibration.y_scale = 1.0f; _mag_calibration.y_scale = 1.0f;
_mag_calibration.z_scale = 1.0f; _mag_calibration.z_scale = 1.0f;
@@ -231,7 +231,7 @@ DfMpu9250Wrapper::~DfMpu9250Wrapper()
perf_free(_fifo_corruption_counter); perf_free(_fifo_corruption_counter);
perf_free(_gyro_range_hit_counter); perf_free(_gyro_range_hit_counter);
perf_free(_accel_range_hit_counter); perf_free(_accel_range_hit_counter);
if (_mag_enabled == true) { if (_mag_enabled) {
perf_free(_mag_fifo_overflow_counter); perf_free(_mag_fifo_overflow_counter);
} }
perf_free(_publish_perf); perf_free(_publish_perf);
@@ -313,7 +313,7 @@ void DfMpu9250Wrapper::info()
perf_print_counter(_fifo_corruption_counter); perf_print_counter(_fifo_corruption_counter);
perf_print_counter(_gyro_range_hit_counter); perf_print_counter(_gyro_range_hit_counter);
perf_print_counter(_accel_range_hit_counter); perf_print_counter(_accel_range_hit_counter);
if (_mag_enabled == true) { if (_mag_enabled) {
perf_print_counter(_mag_fifo_overflow_counter); perf_print_counter(_mag_fifo_overflow_counter);
} }
perf_print_counter(_publish_perf); perf_print_counter(_publish_perf);
@@ -472,7 +472,7 @@ void DfMpu9250Wrapper::_update_accel_calibration()
void DfMpu9250Wrapper::_update_mag_calibration() void DfMpu9250Wrapper::_update_mag_calibration()
{ {
if (_mag_enabled == false) { if (!_mag_enabled) {
return; return;
} }
@@ -612,7 +612,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
perf_set_count(_fifo_corruption_counter, data.fifo_overflow_counter); perf_set_count(_fifo_corruption_counter, data.fifo_overflow_counter);
perf_set_count(_gyro_range_hit_counter, data.gyro_range_hit_counter); perf_set_count(_gyro_range_hit_counter, data.gyro_range_hit_counter);
perf_set_count(_accel_range_hit_counter, data.accel_range_hit_counter); perf_set_count(_accel_range_hit_counter, data.accel_range_hit_counter);
if (_mag_enabled == true) { if (_mag_enabled) {
perf_set_count(_mag_fifo_overflow_counter, data.mag_fifo_overflow_counter); perf_set_count(_mag_fifo_overflow_counter, data.mag_fifo_overflow_counter);
} }
@@ -623,7 +623,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
mag_report mag_report = {}; mag_report mag_report = {};
accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time(); accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();
if (_mag_enabled == true) { if (_mag_enabled) {
mag_report.timestamp = accel_report.timestamp; mag_report.timestamp = accel_report.timestamp;
} }
@@ -636,7 +636,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
accel_report.range_m_s2 = -1.0f; accel_report.range_m_s2 = -1.0f;
accel_report.device_id = m_id.dev_id; accel_report.device_id = m_id.dev_id;
if (_mag_enabled == true) { if (_mag_enabled) {
mag_report.scaling = -1.0f; mag_report.scaling = -1.0f;
mag_report.range_ga = -1.0f; mag_report.range_ga = -1.0f;
mag_report.device_id = m_id.dev_id; mag_report.device_id = m_id.dev_id;
@@ -651,7 +651,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
accel_report.y_raw = NAN; accel_report.y_raw = NAN;
accel_report.z_raw = NAN; accel_report.z_raw = NAN;
if (_mag_enabled == true) { if (_mag_enabled) {
mag_report.x_raw = NAN; mag_report.x_raw = NAN;
mag_report.y_raw = NAN; mag_report.y_raw = NAN;
mag_report.z_raw = NAN; mag_report.z_raw = NAN;
@@ -673,7 +673,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
accel_report.y = accel_val_filt(1); accel_report.y = accel_val_filt(1);
accel_report.z = accel_val_filt(2); accel_report.z = accel_val_filt(2);
if (_mag_enabled == true) { if (_mag_enabled) {
mag_report.x = (data.mag_ga_x - _mag_calibration.x_offset) * _mag_calibration.x_scale; mag_report.x = (data.mag_ga_x - _mag_calibration.x_offset) * _mag_calibration.x_scale;
mag_report.y = (data.mag_ga_y - _mag_calibration.y_offset) * _mag_calibration.y_scale; mag_report.y = (data.mag_ga_y - _mag_calibration.y_offset) * _mag_calibration.y_scale;
mag_report.z = (data.mag_ga_z - _mag_calibration.z_offset) * _mag_calibration.z_scale; mag_report.z = (data.mag_ga_z - _mag_calibration.z_offset) * _mag_calibration.z_scale;