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AP_NavEKF: make AP_RANGEFINDER_ENABLED remove more code

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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
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13
libraries/AP_NavEKF/AP_NavEKF_Source.cpp
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@ -486,9 +486,16 @@ bool AP_NavEKF_Source::pre_arm_check(bool requires_position, char *failure_msg,
return false; return false;
} }
if (rangefinder_required && (dal.rangefinder() == nullptr || !dal.rangefinder()->has_orientation(ROTATION_PITCH_270))) { if (rangefinder_required) {
hal.util->snprintf(failure_msg, failure_msg_len, ekf_requires_msg, "RangeFinder"); #if AP_RANGEFINDER_ENABLED
return false; 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) { if (visualodom_required) {