From 490571ba4433558fd500dbb160eb10e94e039589 Mon Sep 17 00:00:00 2001
From: murata <ma2maru@gmail.com>
Date: Fri, 23 Dec 2016 18:49:39 +0900
Subject: [PATCH] Rover: Changed if statements to switch statement.

Rover: Changed if statements to switch statement.
---
 APMrover2/GCS_Mavlink.cpp   | 15 +++++++++++----
 APMrover2/control_modes.cpp | 16 +++++++++++++---
 2 files changed, 24 insertions(+), 7 deletions(-)

diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index b6c6e79c6f..1a83cdf19d 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1271,20 +1271,27 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
             // prepare and send target position
             if (!pos_ignore) {
                 Location loc = rover.current_loc;
-                if (packet.coordinate_frame == MAV_FRAME_BODY_NED ||
-                    packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
+                switch (packet.coordinate_frame) {
+                case MAV_FRAME_BODY_NED:
+                case MAV_FRAME_BODY_OFFSET_NED: {
                     // rotate from body-frame to NE frame
                     float ne_x = packet.x*rover.ahrs.cos_yaw() - packet.y*rover.ahrs.sin_yaw();
                     float ne_y = packet.x*rover.ahrs.sin_yaw() + packet.y*rover.ahrs.cos_yaw();
                     // add offset to current location
                     location_offset(loc, ne_x, ne_y);
-                } else if (packet.coordinate_frame == MAV_FRAME_LOCAL_OFFSET_NED) {
+                    }
+                    break;
+
+                case MAV_FRAME_LOCAL_OFFSET_NED:
                     // add offset to current location
                     location_offset(loc, packet.x, packet.y);
-                } else {
+                    break;
+
+                default:
                     // MAV_FRAME_LOCAL_NED interpret as an offset from home
                     loc = rover.ahrs.get_home();
                     location_offset(loc, packet.x, packet.y);
+                    break;
                 }
 
                 rover.guided_WP = loc;
diff --git a/APMrover2/control_modes.cpp b/APMrover2/control_modes.cpp
index 3b196513c5..457a261f87 100644
--- a/APMrover2/control_modes.cpp
+++ b/APMrover2/control_modes.cpp
@@ -80,7 +80,8 @@ void Rover::read_trim_switch()
 			if (ch7_flag) {
 				ch7_flag = false;
 
-				if (control_mode == MANUAL) {
+				switch (control_mode) {
+				case MANUAL:
                     hal.console->println("Erasing waypoints");
                     // if SW7 is ON in MANUAL = Erase the Flight Plan
 					mission.clear();
@@ -89,7 +90,9 @@ void Rover::read_trim_switch()
                         init_home();
                     }
 					return;
-				} else if (control_mode == LEARNING || control_mode == STEERING) {    
+
+				case LEARNING:
+				case STEERING: {
                     // if SW7 is ON in LEARNING = record the Wp
 
 				    // create new mission command
@@ -105,9 +108,16 @@ void Rover::read_trim_switch()
 				    if(mission.add_cmd(cmd)) {
                         hal.console->printf("Learning waypoint %u", (unsigned)mission.num_commands());
 				    }
-                } else if (control_mode == AUTO) {    
+				    }
+				    break;
+
+				case AUTO:
                     // if SW7 is ON in AUTO = set to RTL  
                     set_mode(RTL);
+                    break;
+
+				default:
+				    break;
                 }
             }
         }