Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 15:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF: make AP_RANGEFINDER_ENABLED remove more code

Browse Source
This commit is contained in:
Peter Barker 2023-11-08 09:23:40 +11:00 committed by Andrew Tridgell
parent 13e7d04497
commit 07e76a7cae
1 changed files with 10 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_NavEKF/AP_NavEKF_Source.cpp
View File

@ -486,9 +486,16 @@ bool AP_NavEKF_Source::pre_arm_check(bool requires_position, char *failure_msg,
return false;
}
if (rangefinder_required && (dal.rangefinder() == nullptr || !dal.rangefinder()->has_orientation(ROTATION_PITCH_270))) {
hal.util->snprintf(failure_msg, failure_msg_len, ekf_requires_msg, "RangeFinder");
return false;
if (rangefinder_required) {
#if AP_RANGEFINDER_ENABLED
const bool have_rangefinder = (dal.rangefinder() != nullptr && dal.rangefinder()->has_orientation(ROTATION_PITCH_270));
#else
const bool have_rangefinder = false;
#endif
if (!have_rangefinder) {
hal.util->snprintf(failure_msg, failure_msg_len, ekf_requires_msg, "RangeFinder");
return false;
}
}
if (visualodom_required) {