From bb756e0e123911663ed0e72142b5ab5afa4b8aa5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 4 Oct 2018 10:02:45 +0200 Subject: [PATCH] FlightTaskAuto: remove unnecessary brackets in switch case statements --- .../FlightTasks/tasks/Auto/FlightTaskAuto.cpp | 37 +++++++++---------- 1 file changed, 17 insertions(+), 20 deletions(-) diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp index 7d3038cfe9..bc1a3048fe 100644 --- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp +++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp @@ -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())) {