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FlightTaskAuto: remove unnecessary brackets in switch case statements

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This commit is contained in:
Beat Küng
2018-10-04 10:02:45 +02:00
committed by Dennis Mannhart
parent eb30b5b73e
commit bb756e0e12
1 changed files with 17 additions and 20 deletions
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src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+17 -20
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@@ -239,32 +239,29 @@ void FlightTaskAuto::_set_heading_from_mode()
switch (MPC_YAW_MODE.get()) {
case 0: { // Heading points towards the current waypoint.
v = Vector2f(_target) - Vector2f(_position);
break;
case 0: // Heading points towards the current waypoint.
v = Vector2f(_target) - Vector2f(_position);
break;
case 1: // Heading points towards home.
if (_sub_home_position->get().valid_hpos) {
v = Vector2f(&_sub_home_position->get().x) - Vector2f(_position);
}
case 1: { // Heading points towards home.
if (_sub_home_position->get().valid_hpos) {
v = Vector2f(&_sub_home_position->get().x) - Vector2f(_position);
}
break;
break;
case 2: // Heading point away from home.
if (_sub_home_position->get().valid_hpos) {
v = Vector2f(_position) - Vector2f(&_sub_home_position->get().x);
}
case 2: { // Heading point away from home.
if (_sub_home_position->get().valid_hpos) {
v = Vector2f(_position) - Vector2f(&_sub_home_position->get().x);
}
break;
break;
}
case 3: { // Along trajectory.
// The heading depends on the kind of setpoint generation. This needs to be implemented
// in the subclasses where the velocity setpoints are generated.
v *= NAN;
}
case 3: // Along trajectory.
// The heading depends on the kind of setpoint generation. This needs to be implemented
// in the subclasses where the velocity setpoints are generated.
v.setAll(NAN);
break;
}
if (PX4_ISFINITE(v.length())) {