logger: refactor start_stop_logging

Cleans up function by reducing duplicate code and local variable count

Signed-off-by: Tal Zaitsev <tal@corvus-robotics.com>

src/modules/logger/logger.cpp

@@ -929,76 +929,62 @@ bool Logger::get_disable_boot_logging()
 
 bool Logger::start_stop_logging(MissionLogType mission_log_type)
 {
-	bool bret = false;
-	bool want_start = false;
-	bool want_stop = false;
+	bool updated = false;
+	bool desired_state = false;
 
 	if (_log_mode == LogMode::rc_aux1) {
-
 		// aux1-based logging
 		manual_control_setpoint_s manual_sp;
 
 		if (_manual_control_sp_sub.update(&manual_sp)) {
 
-			bool should_start = ((manual_sp.aux1 > 0.3f) || _manually_logging_override);
-
-			if (_prev_state != should_start) {
-				_prev_state = should_start;
-
-				if (should_start) {
-					want_start = true;
-
-				} else {
-					want_stop = true;
-				}
-			}
+			desired_state = (manual_sp.aux1 > 0.3f);
+			updated = true;
 		}
 
-	} else {
+	} else if (_log_mode != LogMode::boot_until_shutdown) {
 		// arming-based logging
 		vehicle_status_s vehicle_status;
 
 		if (_vehicle_status_sub.update(&vehicle_status)) {
 
-			bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) || _manually_logging_override;
+			desired_state = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
+			updated = true;
+		}
+	}
 
-			if (_prev_state != armed && _log_mode != LogMode::boot_until_shutdown) {
-				_prev_state = armed;
+	desired_state = desired_state || _manually_logging_override;
 
-				if (armed) {
-					want_start = true;
+	// only start/stop if this is a state transition
+	if (updated && _prev_state != desired_state) {
+		_prev_state = desired_state;
 
-				} else {
-					want_stop = true;
-				}
+		if (desired_state) {
+			if (_should_stop_file_log) { // happens on quick stop/start toggling
+				_should_stop_file_log = false;
+				stop_log_file(LogType::Full);
 			}
-		}
-	}
 
-	if (want_start) {
-		if (_should_stop_file_log) { // happens on quick stop/start toggling
-			_should_stop_file_log = false;
-			stop_log_file(LogType::Full);
-		}
+			start_log_file(LogType::Full);
 
-		start_log_file(LogType::Full);
-		bret = true;
+			if (mission_log_type != MissionLogType::Disabled) {
+				start_log_file(LogType::Mission);
+			}
 
-		if (mission_log_type != MissionLogType::Disabled) {
-			start_log_file(LogType::Mission);
-		}
+			return true;
 
-	} else if (want_stop) {
-		// delayed stop: we measure the process loads and then stop
-		initialize_load_output(PrintLoadReason::Postflight);
-		_should_stop_file_log = true;
+		} else {
+			// delayed stop: we measure the process loads and then stop
+			initialize_load_output(PrintLoadReason::Postflight);
+			_should_stop_file_log = true;
 
-		if (mission_log_type != MissionLogType::Disabled) {
-			stop_log_file(LogType::Mission);
+			if (mission_log_type != MissionLogType::Disabled) {
+				stop_log_file(LogType::Mission);
+			}
 		}
 	}
 
-	return bret;
+	return false;
 }
 
 void Logger::handle_vehicle_command_update()