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Updated code style to fix confusing if conditions

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This commit is contained in:
Timothy Scott
2019-06-13 10:04:26 +02:00
committed by Julian Oes
parent a134da6e12
commit 714c90b9db
2 changed files with 14 additions and 7 deletions
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src/modules/commander/Commander.cpp
+13 -5
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@@ -1407,14 +1407,18 @@ Commander::run()
status.system_type = (uint8_t)system_type;
}
bool is_rotary = is_rotary_wing(&status) || (is_vtol(&status) && vtol_status.vtol_in_rw_mode);
bool is_fixed = is_fixed_wing(&status) || (is_vtol(&status) && !vtol_status.vtol_in_rw_mode);
bool is_ground = is_ground_rover(&status);
/* disable manual override for all systems that rely on electronic stabilization */
if (is_rotary_wing(&status) || (is_vtol(&status) && vtol_status.vtol_in_rw_mode)) {
if (is_rotary) {
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
} else if (is_fixed_wing(&status) || is_vtol(&status)) {
} else if (is_fixed) {
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
} else if (is_ground_rover(&status)) {
} else if (is_ground) {
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_GROUND;
}
@@ -1638,7 +1642,9 @@ Commander::run()
if (is_vtol(&status)) {
// Check if there has been any change while updating the flags
if ((status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) != vtol_status.vtol_in_rw_mode) {
bool is_rotary = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
if (is_rotary != vtol_status.vtol_in_rw_mode) {
status.vehicle_type = vtol_status.vtol_in_rw_mode ?
vehicle_status_s::VEHICLE_TYPE_ROTARY_WING :
vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
@@ -1660,7 +1666,9 @@ Commander::run()
status_changed = true;
}
if (armed.soft_stop != (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
const bool is_not_rotary_wing = (status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
if (armed.soft_stop != is_not_rotary_wing) {
armed.soft_stop = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
status_changed = true;
}