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AP_InertialSensor: correct compilation when AP_AHRS_ENABLED is off

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e.g. CubeOrange-periph-heavy
This commit is contained in:
Peter Barker 2024-01-11 09:16:57 +11:00 committed by Peter Barker
parent 4dd958bdd7
commit 1051da5cb4
2 changed files with 17 additions and 4 deletions
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11
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -1460,7 +1460,7 @@ bool AP_InertialSensor::get_accel_health_all(void) const
return (get_accel_count() > 0);
}
#if HAL_GCS_ENABLED
#if HAL_GCS_ENABLED && AP_AHRS_ENABLED
/*
calculate the trim_roll and trim_pitch. This is used for redoing the
trim without needing a full accel cal
@ -1521,6 +1521,7 @@ MAV_RESULT AP_InertialSensor::calibrate_trim()
// reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(trim_rad);
last_accel_cal_ms = AP_HAL::millis();
_trimming_accel = false;
return MAV_RESULT_ACCEPTED;
@ -1530,7 +1531,7 @@ failed:
_trimming_accel = false;
return MAV_RESULT_FAILED;
}
#endif // HAL_GCS_ENABLED
#endif // HAL_GCS_ENABLED && AP_AHRS_ENABLED
/*
check if the accelerometers are calibrated in 3D and that current number of accels matched number when calibrated
@ -2408,7 +2409,9 @@ bool AP_InertialSensor::calibrate_gyros()
if (!gyro_calibrated_ok_all()) {
return false;
}
#if AP_AHRS_ENABLED
AP::ahrs().reset_gyro_drift();
#endif
return true;
}
@ -2550,8 +2553,10 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
#endif
}
#if AP_AHRS_ENABLED
// force trim to zero
AP::ahrs().set_trim(Vector3f(0, 0, 0));
#endif
} else {
DEV_PRINTF("\nFAILED\n");
// restore old values
@ -2572,8 +2577,10 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
update();
}
#if AP_AHRS_ENABLED
// and reset state estimators
AP::ahrs().reset();
#endif
// stop flashing leds
AP_Notify::flags.initialising = false;

10
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
View File

@ -218,7 +218,7 @@ void AP_InertialSensor_Backend::apply_gyro_filters(const uint8_t instance, const
continue;
}
bool inactive = notch.is_inactive();
#ifndef HAL_BUILD_AP_PERIPH
#if AP_AHRS_ENABLED
// by default we only run the expensive notch filters on the
// currently active IMU we reset the inactive notch filters so
// that if we switch IMUs we're not left with old data
@ -442,8 +442,14 @@ void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sa
return;
}
#if AP_AHRS_ENABLED
const bool log_because_primary_gyro = _imu.raw_logging_option_set(AP_InertialSensor::RAW_LOGGING_OPTION::PRIMARY_GYRO_ONLY) && (instance == AP::ahrs().get_primary_gyro_index());
#else
const bool log_because_primary_gyro = false;
#endif
if (_imu.raw_logging_option_set(AP_InertialSensor::RAW_LOGGING_OPTION::ALL_GYROS) ||
(_imu.raw_logging_option_set(AP_InertialSensor::RAW_LOGGING_OPTION::PRIMARY_GYRO_ONLY) && (instance == AP::ahrs().get_primary_gyro_index())) ||
log_because_primary_gyro ||
should_log_imu_raw()) {
if (_imu.raw_logging_option_set(AP_InertialSensor::RAW_LOGGING_OPTION::PRE_AND_POST_FILTER)) {