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ArduCopter: return MAV_RESULT_FAILED from do_aux_function if invalid function

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Peter Barker 2021-02-24 20:48:15 +11:00 committed by Peter Barker
parent e5a8acb227
commit ce9800e597
2 changed files with 7 additions and 7 deletions
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12
ArduCopter/RC_Channel.cpp
View File

@ -162,7 +162,7 @@ void RC_Channel_Copter::do_aux_function_armdisarm(const AuxSwitchPos ch_flag)
} }
// do_aux_function - implement the function invoked by auxiliary switches // do_aux_function - implement the function invoked by auxiliary switches
void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag) bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{ {
switch(ch_option) { switch(ch_option) {
case AUX_FUNC::FLIP: case AUX_FUNC::FLIP:
@ -214,12 +214,12 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
// do not allow saving new waypoints while we're in auto or disarmed // do not allow saving new waypoints while we're in auto or disarmed
if (copter.flightmode->mode_number() == Mode::Number::AUTO || !copter.motors->armed()) { if (copter.flightmode->mode_number() == Mode::Number::AUTO || !copter.motors->armed()) {
return; break;
} }
// do not allow saving the first waypoint with zero throttle // do not allow saving the first waypoint with zero throttle
if ((copter.mode_auto.mission.num_commands() == 0) && (copter.channel_throttle->get_control_in() == 0)) { if ((copter.mode_auto.mission.num_commands() == 0) && (copter.channel_throttle->get_control_in() == 0)) {
return; break;
} }
// create new mission command // create new mission command
@ -579,11 +579,11 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
copter.mode_acro.air_mode_aux_changed(); copter.mode_acro.air_mode_aux_changed();
#endif #endif
break; break;
default: default:
RC_Channel::do_aux_function(ch_option, ch_flag); return RC_Channel::do_aux_function(ch_option, ch_flag);
break;
} }
return true;
} }
// change air-mode status // change air-mode status

2
ArduCopter/RC_Channel.h
View File

@ -12,7 +12,7 @@ public:
protected: protected:
void init_aux_function(aux_func_t ch_option, AuxSwitchPos) override; 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;
private: private: