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AP_RangeFinder: disable some incompatible drivers for AP_Periph

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This commit is contained in:
Andrew Tridgell 2019-10-24 22:35:19 +11:00
parent 2059c7bf20
commit 1bdac4811d
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_RangeFinder/RangeFinder.cpp
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@ -391,11 +391,13 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
break;
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
case RangeFinder_TYPE_PX4_PWM:
#ifndef HAL_BUILD_AP_PERIPH
// to ease moving from PX4 to ChibiOS we'll lie a little about
// the backend driver...
if (AP_RangeFinder_PWM::detect()) {
drivers[instance] = new AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height);
}
#endif
break;
#endif
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
@ -429,9 +431,11 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
break;
#endif
case RangeFinder_TYPE_MAVLink:
#ifndef HAL_BUILD_AP_PERIPH
if (AP_RangeFinder_MAVLink::detect()) {
drivers[instance] = new AP_RangeFinder_MAVLink(state[instance], params[instance]);
}
#endif
break;
case RangeFinder_TYPE_MBSER:
if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_instance)) {
@ -439,10 +443,12 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
}
break;
case RangeFinder_TYPE_ANALOG:
#ifndef HAL_BUILD_AP_PERIPH
// note that analog will always come back as present if the pin is valid
if (AP_RangeFinder_analog::detect(params[instance])) {
drivers[instance] = new AP_RangeFinder_analog(state[instance], params[instance]);
}
#endif
break;
case RangeFinder_TYPE_NMEA:
if (AP_RangeFinder_NMEA::detect(serial_instance)) {
@ -470,9 +476,11 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
}
break;
case RangeFinder_TYPE_PWM:
#ifndef HAL_BUILD_AP_PERIPH
if (AP_RangeFinder_PWM::detect()) {
drivers[instance] = new AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height);
}
#endif
break;
case RangeFinder_TYPE_BLPing:
if (AP_RangeFinder_BLPing::detect(serial_instance)) {