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AP_RangeFinder: Optimize statements #13403

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AP_RangeFinder: Optimize statements #13403

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27 changes: 13 additions & 14 deletions libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,20 +137,19 @@ bool AP_RangeFinder_TeraRangerI2C::collect_raw(uint16_t &raw_distance)
// Checks for error code and if correct converts to cm
bool AP_RangeFinder_TeraRangerI2C::process_raw_measure(uint16_t raw_distance, uint16_t &output_distance_cm)
{
// Check for error codes
if (raw_distance == 0xFFFF) {
// Too far away is unreliable so we dont enforce max range here
return false;
} else if (raw_distance == 0x0000) {
// Too close
return false;
} else if (raw_distance == 0x0001) {
// Unable to measure
return false;
} else {
output_distance_cm = raw_distance/10; // Conversion to centimeters
return true;
}
// Check for error codes
switch (raw_distance) {
case 0xFFFF:
// Too far away is unreliable so we dont enforce max range here
case 0x0000:
// Too close
case 0x0001:
// Unable to measure
return false;
default:
output_distance_cm = raw_distance/10; // Conversion to centimeters
return true;
}
}

/*
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