John Carmack on inlined code

Indeed, if memory serves (it's been a while since I read about this)...

The fly-by-wire flight software for the Saab Gripen (a lightweight fighter) went a step further. It disallowed both subroutine calls and backward branches, except for the one at the bottom of the main loop. Control flow went forward only. Sometimes one piece of code had to leave a note for a later piece telling it what to do, but this worked out well for testing: all data was allocated statically, and monitoring those variables gave a clear picture of most everything the software was doing. The software did only the bare essentials, and of course, they were serious about thorough ground testing.

No bug has ever been found in the "released for flight" versions of that code.

                                                     Henry Spencer
                                                  henry@spsystems.net