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AP_WheelEncoder: correct compilation when HAL_GCS_ENABLED is false

This commit is contained in:
Peter Barker 2024-03-07 18:52:59 +11:00 committed by Peter Barker
parent 3ff790159f
commit 23982229fb
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_WheelEncoder/WheelEncoder_SITL_Quadrature.cpp
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@ -55,7 +55,7 @@ void AP_WheelEncoder_SITL_Quadrature::update(void)
// distance from center of wheel axis to each wheel // distance from center of wheel axis to each wheel
const double half_wheelbase = ( fabsf(_frontend.get_pos_offset(0).y) + fabsf(_frontend.get_pos_offset(1).y) )/2.0f; const double half_wheelbase = ( fabsf(_frontend.get_pos_offset(0).y) + fabsf(_frontend.get_pos_offset(1).y) )/2.0f;
if (is_zero(half_wheelbase)) { if (is_zero(half_wheelbase)) {
gcs().send_text(MAV_SEVERITY_WARNING, "WheelEncoder: wheel offset not set!"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "WheelEncoder: wheel offset not set!");
} }
if (_state.instance == 0) { if (_state.instance == 0) {
@ -69,7 +69,7 @@ void AP_WheelEncoder_SITL_Quadrature::update(void)
const double radius = _frontend.get_wheel_radius(_state.instance); const double radius = _frontend.get_wheel_radius(_state.instance);
if (is_zero(radius)) { // avoid divide by zero if (is_zero(radius)) { // avoid divide by zero
gcs().send_text(MAV_SEVERITY_WARNING, "WheelEncoder: wheel radius not set!"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "WheelEncoder: wheel radius not set!");
return; return;
} }
@ -86,4 +86,4 @@ void AP_WheelEncoder_SITL_Quadrature::update(void)
copy_state_to_frontend(_distance_count, _total_count, 0, time_now); copy_state_to_frontend(_distance_count, _total_count, 0, time_now);
} }
#endif #endif