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changed order of arguments for readability

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This commit is contained in:
Andreas Antener
2016-06-02 21:00:15 +02:00
parent fedb9de6ef
commit 095997ca59
1 changed files with 9 additions and 9 deletions
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18
src/modules/commander/state_machine_helper.cpp
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@@ -849,20 +849,20 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
status->failsafe = true;
if (status_flags->offboard_control_loss_timeout && offb_loss_rc_act < 5 && offb_loss_rc_act >= 0) {
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid
&& offb_loss_rc_act == 3) {
if (offb_loss_rc_act == 3 && status_flags->condition_global_position_valid
&& status_flags->condition_home_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (status_flags->condition_global_position_valid && offb_loss_rc_act == 0) {
} else if (offb_loss_rc_act == 0 && status_flags->condition_global_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
} else if (status_flags->condition_local_altitude_valid && offb_loss_rc_act == 1) {
} else if (offb_loss_rc_act == 1 && status_flags->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
} else if (offb_loss_rc_act == 2) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
} else if (status_flags->condition_global_position_valid && offb_loss_rc_act == 4) {
} else if (offb_loss_rc_act == 4 && status_flags->condition_global_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status_flags->condition_local_altitude_valid) {
@@ -888,14 +888,14 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
status->failsafe = true;
if (status_flags->offboard_control_loss_timeout && offb_loss_act < 3 && offb_loss_act >= 0) {
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid
&& offb_loss_rc_act == 2) {
if (offb_loss_act == 2 && status_flags->condition_global_position_valid
&& status_flags->condition_home_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (status_flags->condition_global_position_valid && offb_loss_rc_act == 1) {
} else if (offb_loss_act == 1 && status_flags->condition_global_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
} else if (status_flags->condition_global_position_valid && offb_loss_rc_act == 0) {
} else if (offb_loss_act == 0 && status_flags->condition_global_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status_flags->condition_local_altitude_valid) {