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Commander: avoid automatic type deduction where neither the type is obvious nor it helps with readability

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This commit is contained in:
Matthias Grob
2024-11-12 14:55:36 +01:00
committed by Daniel Agar
parent 990811098b
commit 651552c9b8
4 changed files with 11 additions and 10 deletions
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9
src/modules/commander/Commander.cpp
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@@ -1970,7 +1970,7 @@ void Commander::checkForMissionUpdate()
if (_mission_result_sub.updated()) { if (_mission_result_sub.updated()) {
const mission_result_s &mission_result = _mission_result_sub.get(); const mission_result_s &mission_result = _mission_result_sub.get();
const auto prev_mission_mission_id = mission_result.mission_id; const uint32_t prev_mission_mission_id = mission_result.mission_id;
_mission_result_sub.update(); _mission_result_sub.update();
// if mission_result is valid for the current mission // if mission_result is valid for the current mission
@@ -2155,9 +2155,10 @@ void Commander::vtolStatusUpdate()
if (_vtol_vehicle_status_sub.update(&_vtol_vehicle_status) && is_vtol(_vehicle_status)) { if (_vtol_vehicle_status_sub.update(&_vtol_vehicle_status) && is_vtol(_vehicle_status)) {
// Check if there has been any change while updating the flags (transition = rotary wing status) // Check if there has been any change while updating the flags (transition = rotary wing status)
const auto new_vehicle_type = _vtol_vehicle_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW ? const uint8_t new_vehicle_type =
vehicle_status_s::VEHICLE_TYPE_FIXED_WING : _vtol_vehicle_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW ?
vehicle_status_s::VEHICLE_TYPE_ROTARY_WING; vehicle_status_s::VEHICLE_TYPE_FIXED_WING :
vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
if (new_vehicle_type != _vehicle_status.vehicle_type) { if (new_vehicle_type != _vehicle_status.vehicle_type) {
_vehicle_status.vehicle_type = new_vehicle_type; _vehicle_status.vehicle_type = new_vehicle_type;

8
src/modules/commander/HomePosition.cpp
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@@ -170,7 +170,7 @@ void HomePosition::fillGlobalHomePos(home_position_s &home, double lat, double l
void HomePosition::setInAirHomePosition() void HomePosition::setInAirHomePosition()
{ {
auto &home = _home_position_pub.get(); home_position_s &home = _home_position_pub.get();
if (home.manual_home || (home.valid_lpos && home.valid_hpos && home.valid_alt)) { if (home.manual_home || (home.valid_lpos && home.valid_hpos && home.valid_alt)) {
return; return;
@@ -251,13 +251,13 @@ void HomePosition::setInAirHomePosition()
bool HomePosition::setManually(double lat, double lon, float alt, float yaw) bool HomePosition::setManually(double lat, double lon, float alt, float yaw)
{ {
const auto &vehicle_local_position = _local_position_sub.get(); const vehicle_local_position_s &vehicle_local_position = _local_position_sub.get();
if (!vehicle_local_position.xy_global || !vehicle_local_position.z_global) { if (!vehicle_local_position.xy_global || !vehicle_local_position.z_global) {
return false; return false;
} }
auto &home = _home_position_pub.get(); home_position_s &home = _home_position_pub.get();
home.manual_home = true; home.manual_home = true;
home.lat = lat; home.lat = lat;
@@ -328,7 +328,7 @@ void HomePosition::update(bool set_automatically, bool check_if_changed)
} }
const vehicle_local_position_s &lpos = _local_position_sub.get(); const vehicle_local_position_s &lpos = _local_position_sub.get();
const auto &home = _home_position_pub.get(); const home_position_s &home = _home_position_pub.get();
if (lpos.heading_reset_counter != _heading_reset_counter) { if (lpos.heading_reset_counter != _heading_reset_counter) {
if (_valid && set_automatically) { if (_valid && set_automatically) {

2
src/modules/commander/gyro_calibration.cpp
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@@ -253,7 +253,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
for (unsigned uorb_index = 0; uorb_index < MAX_GYROS; uorb_index++) { for (unsigned uorb_index = 0; uorb_index < MAX_GYROS; uorb_index++) {
auto &calibration = worker_data.calibrations[uorb_index]; calibration::Gyroscope &calibration = worker_data.calibrations[uorb_index];
if (calibration.device_id() != 0) { if (calibration.device_id() != 0) {
calibration.set_offset(worker_data.offset[uorb_index]); calibration.set_offset(worker_data.offset[uorb_index]);

2
src/modules/commander/mag_calibration.cpp
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@@ -905,7 +905,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
for (unsigned cur_mag = 0; cur_mag < MAX_MAGS; cur_mag++) { for (unsigned cur_mag = 0; cur_mag < MAX_MAGS; cur_mag++) {
auto &current_cal = worker_data.calibration[cur_mag]; calibration::Magnetometer &current_cal = worker_data.calibration[cur_mag];
if (current_cal.device_id() != 0) { if (current_cal.device_id() != 0) {
if (worker_data.append_to_existing_calibration) { if (worker_data.append_to_existing_calibration) {