AP_NavEKF3: Change the if statement to a switch statement.

libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp

@@ -203,7 +203,8 @@ void NavEKF3_core::setAidingMode()
     checkGyroCalStatus();
 
     // Determine if we should change aiding mode
-     if (PV_AidingMode == AID_NONE) {
+    switch (PV_AidingMode) {
+        case AID_NONE: {
             // Don't allow filter to start position or velocity aiding until the tilt and yaw alignment is complete
             // and IMU gyro bias estimates have stabilised
             // If GPS usage has been prohiited then we use flow aiding provided optical flow data is present
@@ -213,7 +214,9 @@ void NavEKF3_core::setAidingMode()
             } else if (readyToUseOptFlow() || readyToUseBodyOdm()) {
                 PV_AidingMode = AID_RELATIVE;
             }
-    } else if (PV_AidingMode == AID_RELATIVE) {
+            break;
+        }
+        case AID_RELATIVE: {
             // Check if the fusion has timed out (flow measurements have been rejected for too long)
             bool flowFusionTimeout = ((imuSampleTime_ms - prevFlowFuseTime_ms) > 5000);
             // Check if the fusion has timed out (body odometry measurements have been rejected for too long)
@@ -225,7 +228,9 @@ void NavEKF3_core::setAidingMode()
             } else if (flowFusionTimeout && bodyOdmFusionTimeout) {
                 PV_AidingMode = AID_NONE;
             }
-     } else if (PV_AidingMode == AID_ABSOLUTE) {
+            break;
+        }
+        case AID_ABSOLUTE: {
             // Find the minimum time without data required to trigger any check
             uint16_t minTestTime_ms = MIN(frontend->tiltDriftTimeMax_ms, MIN(frontend->posRetryTimeNoVel_ms,frontend->posRetryTimeUseVel_ms));
 
@@ -292,7 +297,8 @@ void NavEKF3_core::setAidingMode()
                 rngBcnTimeout = true;
                 gpsNotAvailable = true;
             }
-
+            break;
+        }
     }
 
     // check to see if we are starting or stopping aiding and set states and modes as required