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RC_Channel: allow more libraries to compile with no HAL_GCS_ENABLED

This commit is contained in:
Peter Barker 2023-09-02 15:21:36 +10:00 committed by Peter Barker
parent ed5da4ead2
commit d47a742272
1 changed files with 8 additions and 8 deletions
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16
libraries/RC_Channel/RC_Channel.cpp
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@ -702,7 +702,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
break;
default:
gcs().send_text(MAV_SEVERITY_WARNING, "Failed to init: RC%u_OPTION: %u\n",
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Failed to init: RC%u_OPTION: %u\n",
(unsigned)(this->ch_in+1), (unsigned)ch_option);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_BoardConfig::config_error("Failed to init: RC%u_OPTION: %u",
@ -830,7 +830,7 @@ bool RC_Channel::read_aux()
// announce the change to the GCS:
const char *aux_string = string_for_aux_function(_option);
if (aux_string != nullptr) {
gcs().send_text(MAV_SEVERITY_INFO, "RC%i: %s %s", ch_in+1, aux_string, string_for_aux_pos(new_position));
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "RC%i: %s %s", ch_in+1, aux_string, string_for_aux_pos(new_position));
}
#endif
@ -870,19 +870,19 @@ void RC_Channel::do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag)
}
// try to enable AP_Avoidance
if (!adsb->enabled() || !adsb->healthy()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB not available");
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "ADSB not available");
return;
}
avoidance->enable();
AP::logger().Write_Event(LogEvent::AVOIDANCE_ADSB_ENABLE);
gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Enabled");
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Enabled");
return;
}
// disable AP_Avoidance
avoidance->disable();
AP::logger().Write_Event(LogEvent::AVOIDANCE_ADSB_DISABLE);
gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Disabled");
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Disabled");
#endif
}
@ -1442,7 +1442,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
case AUX_FUNC::OPTFLOW_CAL: {
AP_OpticalFlow *optflow = AP::opticalflow();
if (optflow == nullptr) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "OptFlow Cal: failed sensor not enabled");
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "OptFlow Cal: failed sensor not enabled");
break;
}
if (ch_flag == AuxSwitchPos::HIGH) {
@ -1574,7 +1574,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
const bool autoreboot = false;
compass.start_calibration_all(retry, autosave, delay, autoreboot);
} else {
gcs().send_text(MAV_SEVERITY_NOTICE, "Disarm to allow compass calibration");
GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Disarm to allow compass calibration");
}
break;
}
@ -1646,7 +1646,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
break;
default:
gcs().send_text(MAV_SEVERITY_INFO, "Invalid channel option (%u)", (unsigned int)ch_option);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Invalid channel option (%u)", (unsigned int)ch_option);
return false;
}