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Rover: return MAV_RESULT_FAILED from do_aux_function if invalid function

This commit is contained in:
Peter Barker 2021-02-24 20:48:16 +11:00 committed by Peter Barker
parent cb8ca17035
commit b245b027f7
2 changed files with 7 additions and 6 deletions
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11
Rover/RC_Channel.cpp
View File

@ -125,7 +125,7 @@ void RC_Channel_Rover::do_aux_function_sailboat_motor_3pos(const AuxSwitchPos ch
}
}
void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
bool RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
switch (ch_option) {
case AUX_FUNC::DO_NOTHING:
@ -134,7 +134,7 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const AuxSwit
if (ch_flag == AuxSwitchPos::HIGH) {
// do nothing if in AUTO mode
if (rover.control_mode == &rover.mode_auto) {
return;
break;
}
// if disarmed clear mission and set home to current location
@ -143,7 +143,7 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const AuxSwit
if (!rover.set_home_to_current_location(false)) {
// ignored
}
return;
break;
}
// record the waypoint if not in auto mode
@ -248,8 +248,9 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const AuxSwit
break;
default:
RC_Channel::do_aux_function(ch_option, ch_flag);
break;
return RC_Channel::do_aux_function(ch_option, ch_flag);
}
return true;
}

2
Rover/RC_Channel.h
View File

@ -12,7 +12,7 @@ public:
protected:
void init_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
void do_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
bool do_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
// called when the mode switch changes position:
void mode_switch_changed(modeswitch_pos_t new_pos) override;