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mc_pos_control: refactor switch case logic for modes

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This commit is contained in:
Matthias Grob
2018-11-28 10:43:40 +01:00
parent 38cf89ee9c
commit d76aec4eb2
2 changed files with 2 additions and 23 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
-10
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@@ -919,13 +919,7 @@ MulticopterPositionControl::start_flight_task()
should_disable_task = false;
int error = 0;
switch (MPC_AUTO_MODE.get()) {
case 0:
case 1:
case 2:
error = _flight_tasks.switchTask(FlightTaskIndex::AutoLine);
break;
case 3:
error = _flight_tasks.switchTask(FlightTaskIndex::AutoLineSmoothVel);
break;
@@ -965,7 +959,6 @@ MulticopterPositionControl::start_flight_task()
error = _flight_tasks.switchTask(FlightTaskIndex::ManualPositionSmoothVel);
break;
case 0:
default:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualPosition);
break;
@@ -994,9 +987,6 @@ MulticopterPositionControl::start_flight_task()
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitudeSmooth);
break;
case 0:
case 2:
case 3:
default:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitude);
break;