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AC_PrecLand: fixes for feature disablement

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
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8
libraries/AC_PrecLand/AC_PrecLand.cpp
View File

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

8
libraries/AC_PrecLand/AC_PrecLand.h
View File

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