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Copter: add sanity check for ModeFollow requiring AC_Avoid 

Copter: correct compilation when logging disabled

Copter: correct compilation when mount disabled
This commit is contained in:
Peter Barker 2018-05-08 07:53:32 +10:00 committed by Randy Mackay
parent cca9a6e557
commit 23a0e10d01
3 changed files with 5 additions and 2 deletions
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1
ArduCopter/Log.cpp
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@ -573,7 +573,6 @@ void Copter::Log_Write_Home_And_Origin() {}
void Copter::Log_Sensor_Health() {}
void Copter::Log_Write_Precland() {}
void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
void Copter::Log_Write_Proximity() {}
void Copter::Log_Write_Vehicle_Startup_Messages() {}
#if FRAME_CONFIG == HELI_FRAME

2
ArduCopter/autoyaw.cpp
View File

@ -160,7 +160,7 @@ void Copter::Mode::AutoYaw::set_roi(const Location &roi_location)
// 4: point at a target given a target id (can't be implemented)
#else
// if we have no camera mount aim the quad at the location
roi = pv_location_to_vector(roi_location);
roi = copter.pv_location_to_vector(roi_location);
auto_yaw.set_mode(AUTO_YAW_ROI);
#endif // MOUNT == ENABLED
}

4
ArduCopter/config.h
View File

@ -668,6 +668,10 @@
#error AC_Avoidance relies on AC_FENCE which is disabled
#endif
#if MODE_FOLLOW_ENABLED && !AC_AVOID_ENABLED
#error Follow Mode relies on AC_AVOID which is disabled
#endif
#if MODE_AUTO_ENABLED && !MODE_GUIDED_ENABLED
#error ModeAuto requires ModeGuided which is disabled
#endif