Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_PrecLand: fixes for feature disablement

Browse Source
This commit is contained in:
Peter Barker 2023-03-27 09:24:41 +11:00 committed by Andrew Tridgell
parent 9643f44ecc
commit 09dbf53454
2 changed files with 15 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AC_PrecLand/AC_PrecLand.cpp
View File

@ -241,17 +241,23 @@ void AC_PrecLand::init(uint16_t update_rate_hz)
default: default:
return; return;
// companion computer // companion computer
#if AC_PRECLAND_COMPANION_ENABLED
case Type::COMPANION: case Type::COMPANION:
_backend = new AC_PrecLand_Companion(*this, _backend_state); _backend = new AC_PrecLand_Companion(*this, _backend_state);
break; break;
// IR Lock // IR Lock
#endif
#if AC_PRECLAND_IRLOCK_ENABLED
case Type::IRLOCK: case Type::IRLOCK:
_backend = new AC_PrecLand_IRLock(*this, _backend_state); _backend = new AC_PrecLand_IRLock(*this, _backend_state);
break; break;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #endif
#if AC_PRECLAND_SITL_GAZEBO_ENABLED
case Type::SITL_GAZEBO: case Type::SITL_GAZEBO:
_backend = new AC_PrecLand_SITL_Gazebo(*this, _backend_state); _backend = new AC_PrecLand_SITL_Gazebo(*this, _backend_state);
break; break;
#endif
#if AC_PRECLAND_SITL_ENABLED
case Type::SITL: case Type::SITL:
_backend = new AC_PrecLand_SITL(*this, _backend_state); _backend = new AC_PrecLand_SITL(*this, _backend_state);
break; break;

8
libraries/AC_PrecLand/AC_PrecLand.h
View File

@ -127,10 +127,18 @@ private:
// types of precision landing (used for PRECLAND_TYPE parameter) // types of precision landing (used for PRECLAND_TYPE parameter)
enum class Type : uint8_t { enum class Type : uint8_t {
NONE = 0, NONE = 0,
#if AC_PRECLAND_COMPANION_ENABLED
COMPANION = 1, COMPANION = 1,
#endif
#if AC_PRECLAND_IRLOCK_ENABLED
IRLOCK = 2, IRLOCK = 2,
#endif
#if AC_PRECLAND_SITL_GAZEBO_ENABLED
SITL_GAZEBO = 3, SITL_GAZEBO = 3,
#endif
#if AC_PRECLAND_SITL_ENABLED
SITL = 4, SITL = 4,
#endif
}; };
enum PLndOptions { enum PLndOptions {