diff options
Diffstat (limited to 'src/modules/commander/commander_helper.cpp')
| -rw-r--r-- | src/modules/commander/commander_helper.cpp | 32 |
1 files changed, 23 insertions, 9 deletions
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index b5ec6c4e6..a2e827a15 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -231,7 +231,7 @@ int led_init() /* then try RGB LEDs, this can fail on FMUv1*/ rgbleds = open(RGBLED0_DEVICE_PATH, 0); - if (rgbleds == -1) { + if (rgbleds < 0) { warnx("No RGB LED found at " RGBLED0_DEVICE_PATH); } @@ -240,50 +240,64 @@ int led_init() void led_deinit() { - close(leds); + if (leds >= 0) { + close(leds); + } - if (rgbleds != -1) { + if (rgbleds >= 0) { close(rgbleds); } } int led_toggle(int led) { + if (leds < 0) { + return leds; + } return ioctl(leds, LED_TOGGLE, led); } int led_on(int led) { + if (leds < 0) { + return leds; + } return ioctl(leds, LED_ON, led); } int led_off(int led) { + if (leds < 0) { + return leds; + } return ioctl(leds, LED_OFF, led); } void rgbled_set_color(rgbled_color_t color) { - if (rgbleds != -1) { - ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color); + if (rgbleds < 0) { + return; } + ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color); } void rgbled_set_mode(rgbled_mode_t mode) { - if (rgbleds != -1) { - ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode); + if (rgbleds < 0) { + return; } + ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode); } void rgbled_set_pattern(rgbled_pattern_t *pattern) { - if (rgbleds != -1) { - ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern); + if (rgbleds < 0) { + return; } + ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern); } float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized) |