From e5a8acb2272286ddea45f7322bc7426d8677c425 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Feb 2021 20:48:15 +1100
Subject: [PATCH] RC_Channel: return MAV_RESULT_FAILED from do_aux_function if
 invalid function

---
 libraries/RC_Channel/RC_Channel.cpp | 6 ++++--
 libraries/RC_Channel/RC_Channel.h   | 6 +++---
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 84883d72e2..b6fd3ee246 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -893,7 +893,7 @@ void RC_Channel::do_aux_function_mission_reset(const AuxSwitchPos ch_flag)
     mission->reset();
 }
 
-void RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
 {
     switch(ch_option) {
     case AUX_FUNC::CAMERA_TRIGGER:
@@ -1150,8 +1150,10 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
 
     default:
         gcs().send_text(MAV_SEVERITY_INFO, "Invalid channel option (%u)", (unsigned int)ch_option);
-        break;
+        return false;
     }
+
+    return true;
 }
 
 void RC_Channel::init_aux()
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 658aa3de88..3a38d590fc 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -241,7 +241,7 @@ public:
     bool read_6pos_switch(int8_t& position) WARN_IF_UNUSED;
     AuxSwitchPos get_aux_switch_pos() const;
 
-    virtual void do_aux_function(aux_func_t ch_option, AuxSwitchPos);
+    virtual bool do_aux_function(aux_func_t ch_option, AuxSwitchPos);
 
 #if !HAL_MINIMIZE_FEATURES
     const char *string_for_aux_function(AUX_FUNC function) const;
@@ -482,8 +482,8 @@ public:
 
     uint32_t last_input_ms() const { return last_update_ms; };
 
-    void do_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos) {
-        rc_channel(0)->do_aux_function(ch_option, pos);
+    bool do_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos) {
+        return rc_channel(0)->do_aux_function(ch_option, pos);
     }
 
 protected: