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AP_VideoTX: protect vtx from pitmode changes when not enabled or not armed

This commit is contained in:
Andy Piper 2023-02-07 19:04:12 +00:00 committed by Andrew Tridgell
parent 34702ed986
commit e1db6e38e2
1 changed files with 8 additions and 2 deletions
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10
libraries/AP_VideoTX/AP_VideoTX.cpp
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@ -335,6 +335,10 @@ void AP_VideoTX::set_freq_is_current()
// periodic update
void AP_VideoTX::update(void)
{
if (!_enabled) {
return;
}
#if HAL_CRSF_TELEM_ENABLED
AP_CRSF_Telem* crsf = AP::crsf_telem();
@ -503,7 +507,7 @@ void AP_VideoTX::announce_vtx_settings() const
// 6-pos range is in the middle of the available range
void AP_VideoTX::change_power(int8_t position)
{
if (position < 0 || position > 5) {
if (!_enabled || position < 0 || position > 5) {
return;
}
// first find out how many possible levels there are
@ -529,7 +533,9 @@ void AP_VideoTX::change_power(int8_t position)
}
if (power == 0) {
set_configured_options(get_configured_options() | uint8_t(VideoOptions::VTX_PITMODE));
if (!hal.util->get_soft_armed()) { // don't allow pitmode to be entered if already armed
set_configured_options(get_configured_options() | uint8_t(VideoOptions::VTX_PITMODE));
}
} else {
if (has_option(VideoOptions::VTX_PITMODE)) {
set_configured_options(get_configured_options() & ~uint8_t(VideoOptions::VTX_PITMODE));