Rover: Change the IF statement to a SWITCH statement

muramura · May 8, 2024 · 2f73f8c · 2f73f8c
1 parent 8c91077
commit 2f73f8c
Showing 1 changed file with 19 additions and 8 deletions.
diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
@@ -626,16 +626,27 @@ void ModeAuto::exit_mission()
     // send message
     gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete");
 
-    if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && start_loiter()) {
-        return;
-    }
+    switch (g2.mis_done_behave) {
+    case MIS_DONE_BEHAVE_LOITER:
+        if (start_loiter()) {
+            return;
+        }
+        break;
 
-    if (g2.mis_done_behave == MIS_DONE_BEHAVE_ACRO && rover.set_mode(rover.mode_acro, ModeReason::MISSION_END)) {
-        return;
-    }
+    case MIS_DONE_BEHAVE_ACRO:
+        if (rover.set_mode(rover.mode_acro, ModeReason::MISSION_END)) {
+            return;
+        }
+        break;
 
-    if (g2.mis_done_behave == MIS_DONE_BEHAVE_MANUAL && rover.set_mode(rover.mode_manual, ModeReason::MISSION_END)) {
-        return;
+    case MIS_DONE_BEHAVE_MANUAL:
+        if (rover.set_mode(rover.mode_manual, ModeReason::MISSION_END)) {
+            return;
+        }  
+        break;
+
+    default:
+        break;
     }
 
     start_stop();