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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); run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
break; break;
default: 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); (unsigned)(this->ch_in+1), (unsigned)ch_option);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_BoardConfig::config_error("Failed to init: RC%u_OPTION: %u", 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: // announce the change to the GCS:
const char *aux_string = string_for_aux_function(_option); const char *aux_string = string_for_aux_function(_option);
if (aux_string != nullptr) { 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 #endif
@ -870,19 +870,19 @@ void RC_Channel::do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag)
} }
// try to enable AP_Avoidance // try to enable AP_Avoidance
if (!adsb->enabled() || !adsb->healthy()) { if (!adsb->enabled() || !adsb->healthy()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB not available"); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "ADSB not available");
return; return;
} }
avoidance->enable(); avoidance->enable();
AP::logger().Write_Event(LogEvent::AVOIDANCE_ADSB_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; return;
} }
// disable AP_Avoidance // disable AP_Avoidance
avoidance->disable(); avoidance->disable();
AP::logger().Write_Event(LogEvent::AVOIDANCE_ADSB_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 #endif
} }
@ -1442,7 +1442,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
case AUX_FUNC::OPTFLOW_CAL: { case AUX_FUNC::OPTFLOW_CAL: {
AP_OpticalFlow *optflow = AP::opticalflow(); AP_OpticalFlow *optflow = AP::opticalflow();
if (optflow == nullptr) { 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; break;
} }
if (ch_flag == AuxSwitchPos::HIGH) { 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; const bool autoreboot = false;
compass.start_calibration_all(retry, autosave, delay, autoreboot); compass.start_calibration_all(retry, autosave, delay, autoreboot);
} else { } else {
gcs().send_text(MAV_SEVERITY_NOTICE, "Disarm to allow compass calibration"); GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Disarm to allow compass calibration");
} }
break; break;
} }
@ -1646,7 +1646,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
break; break;
default: 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; return false;
} }