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clang-tidy readability-simplify-boolean-expr

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This commit is contained in:
Daniel Agar
2017-06-02 19:35:18 -04:00
parent 3c06641897
commit 64ed96d81a
12 changed files with 36 additions and 95 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+4 -10
View File
@@ -142,16 +142,10 @@ bool FixedwingLandDetector::_get_landed_state()
_accel_horz_lp = _accel_horz_lp * 0.8f + _controlState.horz_acc_mag * 0.18f;
// crude land detector for fixedwing
if (_velocity_xy_filtered < _params.maxVelocity
&& _velocity_z_filtered < _params.maxClimbRate
&& _airspeed_filtered < _params.maxAirSpeed
&& _accel_horz_lp < _params.maxIntVelocity) {
landDetected = true;
} else {
landDetected = false;
}
landDetected = _velocity_xy_filtered < _params.maxVelocity
&& _velocity_z_filtered < _params.maxClimbRate
&& _airspeed_filtered < _params.maxAirSpeed
&& _accel_horz_lp < _params.maxIntVelocity;
} else {
// Control state topic has timed out and we need to assume we're landed.
src/modules/land_detector/MulticopterLandDetector.cpp
+2 -14
View File
@@ -186,12 +186,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// If pilots commands down or in auto mode and we are already below minimal thrust and we do not move down we assume ground contact
// TODO: we need an accelerometer based check for vertical movement for flying without GPS
if (manual_control_idle_or_auto && _has_minimal_thrust() &&
(!verticalMovement || !_has_altitude_lock())) {
return true;
}
return false;
return manual_control_idle_or_auto && _has_minimal_thrust() && (!verticalMovement || !_has_altitude_lock());
}
bool MulticopterLandDetector::_get_landed_state()
@@ -231,14 +226,7 @@ bool MulticopterLandDetector::_get_landed_state()
// if this persists for 8 seconds AND the drone is not
// falling consider it to be landed. This should even sustain
// quite acrobatic flight.
if ((_min_trust_start > 0) &&
(hrt_elapsed_time(&_min_trust_start) > 8000000)) {
return true;
} else {
return false;
}
return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8000000);
}
float armThresholdFactor = 1.0f;