Copter: implement suggested changes

bnsgeyer · May 13, 2024 · c100037 · c100037
1 parent dcdb309
commit c100037
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Showing 2 changed files with 14 additions and 6 deletions.
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -3,7 +3,7 @@
 #include "Copter.h"
 #include <AP_Math/chirp.h>
 #include <AP_ExternalControl/AP_ExternalControl_config.h> // TODO why is this needed if Copter.h includes this
-#include <AP_Math/control.h>
+
 class Parameters;
 class ParametersG2;
 

diff --git a/ArduCopter/mode_systemid.cpp b/ArduCopter/mode_systemid.cpp
@@ -1,4 +1,5 @@
 #include "Copter.h"
+#include <AP_Math/control.h>
 
 #if MODE_SYSTEMID_ENABLED == ENABLED
 
@@ -426,11 +427,18 @@ bool ModeSystemId::is_poscontrol_axis_type() const
 {
     bool ret = false;
 
-    if ((AxisType)axis.get() == AxisType::DISTURB_POS_LAT || (AxisType)axis.get() == AxisType::DISTURB_POS_LONG
-         || (AxisType)axis.get() == AxisType::DISTURB_VEL_LAT || (AxisType)axis.get() == AxisType::DISTURB_VEL_LONG
-         || (AxisType)axis.get() == AxisType::INPUT_LOITER_LAT || (AxisType)axis.get() == AxisType::INPUT_LOITER_LONG) {
-        ret = true;
-    }
+    switch ((AxisType)axis.get()) {
+        case AxisType::DISTURB_POS_LAT:
+        case AxisType::DISTURB_POS_LONG:
+        case AxisType::DISTURB_VEL_LAT:
+        case AxisType::DISTURB_VEL_LONG:
+        case AxisType::INPUT_LOITER_LAT:
+        case AxisType::INPUT_LOITER_LONG:
+            ret = true;
+            break;
+        default:
+            break;
+        }
 
     return ret;
 }