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RC_Channel: Check when to use

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This commit is contained in:
murata 2023-02-23 07:49:59 +09:00 committed by Peter Barker
parent 59a5babc06
commit 4a7365685d
1 changed files with 16 additions and 16 deletions
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32
libraries/RC_Channel/RC_Channel.cpp
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@ -718,11 +718,11 @@ void RC_Channel::do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag)
if (avoidance == nullptr) {
return;
}
AP_ADSB *adsb = AP::ADSB();
if (adsb == nullptr) {
return;
}
if (ch_flag == AuxSwitchPos::HIGH) {
AP_ADSB *adsb = AP::ADSB();
if (adsb == nullptr) {
return;
}
// try to enable AP_Avoidance
if (!adsb->enabled() || !adsb->healthy()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB not available");
@ -766,11 +766,11 @@ void RC_Channel::do_aux_function_avoid_proximity(const AuxSwitchPos ch_flag)
#if AP_CAMERA_ENABLED
void RC_Channel::do_aux_function_camera_trigger(const AuxSwitchPos ch_flag)
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return;
}
if (ch_flag == AuxSwitchPos::HIGH) {
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return;
}
camera->take_picture();
}
}
@ -830,11 +830,11 @@ bool RC_Channel::do_aux_function_camera_manual_focus(const AuxSwitchPos ch_flag)
bool RC_Channel::do_aux_function_camera_auto_focus(const AuxSwitchPos ch_flag)
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return false;
}
if (ch_flag == AuxSwitchPos::HIGH) {
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return false;
}
return camera->set_auto_focus();
}
return false;
@ -898,11 +898,11 @@ void RC_Channel::do_aux_function_fence(const AuxSwitchPos ch_flag)
void RC_Channel::do_aux_function_clear_wp(const AuxSwitchPos ch_flag)
{
AP_Mission *mission = AP::mission();
if (mission == nullptr) {
return;
}
if (ch_flag == AuxSwitchPos::HIGH) {
AP_Mission *mission = AP::mission();
if (mission == nullptr) {
return;
}
mission->clear();
}
}