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global: Change the IF statement to a SWITCH statement #27043

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global: Change the IF statement to a SWITCH statement #27043

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6947f4d
AP_Param: Change the IF statement to a SWITCH statement
muramura May 11, 2024
ee0487b
Rover: Change the IF statement to a SWITCH statement
muramura May 12, 2024
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28 changes: 20 additions & 8 deletions Rover/mode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,11 +121,17 @@ void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &t

// check for special case of input and output throttle being in opposite directions
float throttle_out_limited = g2.motors.get_slew_limited_throttle(throttle_out, rover.G_Dt);
if ((is_negative(throttle_out) != is_negative(throttle_out_limited)) &&
((g.pilot_steer_type == PILOT_STEER_TYPE_DEFAULT) ||
(g.pilot_steer_type == PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING))) {
steering_out *= -1;
if (is_negative(throttle_out) != is_negative(throttle_out_limited)) {
switch (g.pilot_steer_type) {
case PILOT_STEER_TYPE_DEFAULT:
case PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING:
steering_out *= -1;
break;
default:
break;
}
}

throttle_out = throttle_out_limited;
}

Expand All @@ -137,11 +143,17 @@ void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &spee
speed_out = desired_throttle * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f);
// check for special case of input and output throttle being in opposite directions
float speed_out_limited = g2.attitude_control.get_desired_speed_accel_limited(speed_out, rover.G_Dt);
if ((is_negative(speed_out) != is_negative(speed_out_limited)) &&
((g.pilot_steer_type == PILOT_STEER_TYPE_DEFAULT) ||
(g.pilot_steer_type == PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING))) {
steering_out *= -1;
if (is_negative(speed_out) != is_negative(speed_out_limited)) {
switch (g.pilot_steer_type) {
case PILOT_STEER_TYPE_DEFAULT:
case PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING:
steering_out *= -1;
break;
default:
break;
}
}

speed_out = speed_out_limited;
}

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18 changes: 14 additions & 4 deletions libraries/AP_Param/AP_Param.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2205,23 +2205,33 @@ void AP_Param::set_float(float value, enum ap_var_type var_type)
float rounding_addition = 0.01f;

// handle variables with standard type IDs
if (var_type == AP_PARAM_FLOAT) {
switch (var_type) {
case AP_PARAM_FLOAT:
((AP_Float *)this)->set(value);
} else if (var_type == AP_PARAM_INT32) {
break;
case AP_PARAM_INT32: {
if (value < 0) rounding_addition = -rounding_addition;
float v = value+rounding_addition;
v = constrain_float(v, INT32_MIN, INT32_MAX);
((AP_Int32 *)this)->set(v);
} else if (var_type == AP_PARAM_INT16) {
break;
}
case AP_PARAM_INT16: {
if (value < 0) rounding_addition = -rounding_addition;
float v = value+rounding_addition;
v = constrain_float(v, INT16_MIN, INT16_MAX);
((AP_Int16 *)this)->set(v);
} else if (var_type == AP_PARAM_INT8) {
break;
}
case AP_PARAM_INT8: {
if (value < 0) rounding_addition = -rounding_addition;
float v = value+rounding_addition;
v = constrain_float(v, INT8_MIN, INT8_MAX);
((AP_Int8 *)this)->set(v);
break;
}
default:
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Don't need this default. Also, if we change var_class to be an enum class then we'll NEED to remove the default.

break;
}
}

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