From aaa67632ca19d08edb205200fd61f41374a3a30b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 15 Mar 2018 11:22:00 +0100 Subject: [PATCH] navigator: remove redundant switch block for ROI handling --- src/modules/navigator/navigator_main.cpp | 26 +++--------------------- 1 file changed, 3 insertions(+), 23 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 07c38a2bc8..c5f03e73af 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -496,6 +496,9 @@ Navigator::run() case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_LOCATION: _vroi.mode = vehicle_command_s::VEHICLE_ROI_LOCATION; + _vroi.lat = cmd.param5; + _vroi.lon = cmd.param6; + _vroi.alt = cmd.param7; break; case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET: @@ -508,29 +511,6 @@ Navigator::run() case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_NONE: _vroi.mode = vehicle_command_s::VEHICLE_ROI_NONE; break; - } - - switch (_vroi.mode) { - case vehicle_command_s::VEHICLE_ROI_NONE: - break; - - case vehicle_command_s::VEHICLE_ROI_WPNEXT: - // TODO: implement point toward next MISSION - break; - - case vehicle_command_s::VEHICLE_ROI_WPINDEX: - _vroi.mission_seq = cmd.param2; - break; - - case vehicle_command_s::VEHICLE_ROI_LOCATION: - _vroi.lat = cmd.param5; - _vroi.lon = cmd.param6; - _vroi.alt = cmd.param7; - break; - - case vehicle_command_s::VEHICLE_ROI_TARGET: - _vroi.target_seq = cmd.param2; - break; default: _vroi.mode = vehicle_command_s::VEHICLE_ROI_NONE;