[GitHub] [incubator-nuttx-apps] pkarashchenko commented on a diff in pull request #1287: industry/foc foc_ident: improve flux linkage identification method

[GitBox <gi...@apache.org>]

pkarashchenko commented on code in PR #1287:
URL: https://github.com/apache/incubator-nuttx-apps/pull/1287#discussion_r950692495


##########
industry/foc/float/foc_ident.c:
##########
@@ -650,12 +653,23 @@ int foc_routine_ident_run_f32(FAR foc_routine_f32_t *r,
           break;
         }
 
-      case FOC_IDENT_RUN_IDLE1:
-      case FOC_IDENT_RUN_IDLE2:
       case FOC_IDENT_RUN_IDLE3:
 #ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
+        if (i->cntr == 0)
+          {
+            ret = i->cfg.cb.kpki(i->cfg.cb.priv_kpki, i->final.res,
+                                 i->final.ind, i->cfg.per);
+            if (ret < 0)
+              {
+                FOCLIBERR("ERROR: ident kpki callback failed %d!\n", ret);
+                goto errout;

Review Comment:
    nitpick: in most of the cases when  `goto errout;` is used the simple `break;` should be enough



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