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Plane: Change IF statement to SWITCH statement #27366

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Plane: Change IF statement to SWITCH statement #27366

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27 changes: 22 additions & 5 deletions ArduPlane/quadplane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2248,30 +2248,47 @@ void QuadPlane::PosControlState::set_state(enum position_control_state s)
auto &qp = plane.quadplane;
pilot_correction_done = false;
// handle resets needed for when the state changes
if (s == QPOS_POSITION1) {
switch (s) {
case QPOS_POSITION1:
reached_wp_speed = false;
// never do a rate reset, if attitude control is not active it will be automaticaly reset before running, see: last_att_control_ms
// if it is active then the rate control should not be reset at all
qp.attitude_control->reset_yaw_target_and_rate(false);
pos1_speed_limit = plane.ahrs.groundspeed_vector().length();
done_accel_init = false;
} else if (s == QPOS_AIRBRAKE) {
break;

case QPOS_AIRBRAKE:
// start with zero integrator on vertical throttle
qp.pos_control->get_accel_z_pid().set_integrator(0);
} else if (s == QPOS_LAND_DESCEND) {
break;

case QPOS_LAND_DESCEND:
// reset throttle descent control
qp.thr_ctrl_land = false;
qp.land_descend_start_alt = plane.current_loc.alt*0.01;
last_override_descent_ms = 0;
} else if (s == QPOS_LAND_ABORT) {
break;

case QPOS_LAND_ABORT:
// reset throttle descent control
qp.thr_ctrl_land = false;
} else if (s == QPOS_LAND_FINAL) {
break;

case QPOS_LAND_FINAL: {
// remember last pos reset to handle GPS glitch in LAND_FINAL
Vector2f rpos;
last_pos_reset_ms = plane.ahrs.getLastPosNorthEastReset(rpos);
qp.landing_detect.land_start_ms = 0;
qp.landing_detect.lower_limit_start_ms = 0;
break;
}

case QPOS_NONE:
case QPOS_APPROACH:
case QPOS_POSITION2:
case QPOS_LAND_COMPLETE:
break;
}
// double log to capture the state change
#if HAL_LOGGING_ENABLED
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