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AP_Arming: correct compilation when RC_Channels library not available

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Peter Barker 2023-12-08 13:12:45 +11:00 committed by Peter Barker
parent 58d4871177
commit 2768c63971
1 changed files with 15 additions and 1 deletions
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16
libraries/AP_Arming/AP_Arming.cpp
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@ -718,6 +718,7 @@ bool AP_Arming::hardware_safety_check(bool report)
return true; return true;
} }
#if AP_RC_CHANNEL_ENABLED
bool AP_Arming::rc_arm_checks(AP_Arming::Method method) bool AP_Arming::rc_arm_checks(AP_Arming::Method method)
{ {
// don't check the trims if we are in a failsafe // don't check the trims if we are in a failsafe
@ -835,6 +836,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
return rc_in_calibration_check(report); return rc_in_calibration_check(report);
} }
#endif // AP_RC_CHANNEL_ENABLED
bool AP_Arming::mission_checks(bool report) bool AP_Arming::mission_checks(bool report)
{ {
@ -1523,6 +1525,7 @@ bool AP_Arming::estop_checks(bool display_failure)
// not emergency-stopped, so no prearm failure: // not emergency-stopped, so no prearm failure:
return true; return true;
} }
#if AP_RC_CHANNEL_ENABLED
// vehicle is emergency-stopped; if this *appears* to have been done via switch then we do not fail prearms: // vehicle is emergency-stopped; if this *appears* to have been done via switch then we do not fail prearms:
const RC_Channel *chan = rc().find_channel_for_option(RC_Channel::AUX_FUNC::ARM_EMERGENCY_STOP); const RC_Channel *chan = rc().find_channel_for_option(RC_Channel::AUX_FUNC::ARM_EMERGENCY_STOP);
if (chan != nullptr) { if (chan != nullptr) {
@ -1531,7 +1534,8 @@ bool AP_Arming::estop_checks(bool display_failure)
// switch is configured and is in estop position, so likely the reason we are estopped, so no prearm failure // switch is configured and is in estop position, so likely the reason we are estopped, so no prearm failure
return true; // no prearm failure return true; // no prearm failure
} }
} }
#endif // AP_RC_CHANNEL_ENABLED
check_failed(display_failure,"Motors Emergency Stopped"); check_failed(display_failure,"Motors Emergency Stopped");
return false; return false;
} }
@ -1558,7 +1562,9 @@ bool AP_Arming::pre_arm_checks(bool report)
& gps_checks(report) & gps_checks(report)
& battery_checks(report) & battery_checks(report)
& logging_checks(report) & logging_checks(report)
#if AP_RC_CHANNEL_ENABLED
& manual_transmitter_checks(report) & manual_transmitter_checks(report)
#endif
& mission_checks(report) & mission_checks(report)
& rangefinder_checks(report) & rangefinder_checks(report)
& servo_checks(report) & servo_checks(report)
@ -1576,7 +1582,9 @@ bool AP_Arming::pre_arm_checks(bool report)
#if AP_ARMING_AUX_AUTH_ENABLED #if AP_ARMING_AUX_AUTH_ENABLED
& aux_auth_checks(report) & aux_auth_checks(report)
#endif #endif
#if AP_RC_CHANNEL_ENABLED
& disarm_switch_checks(report) & disarm_switch_checks(report)
#endif
& fence_checks(report) & fence_checks(report)
& opendroneid_checks(report) & opendroneid_checks(report)
& serial_protocol_checks(report) & serial_protocol_checks(report)
@ -1592,11 +1600,13 @@ bool AP_Arming::pre_arm_checks(bool report)
bool AP_Arming::arm_checks(AP_Arming::Method method) bool AP_Arming::arm_checks(AP_Arming::Method method)
{ {
#if AP_RC_CHANNEL_ENABLED
if (check_enabled(ARMING_CHECK_RC)) { if (check_enabled(ARMING_CHECK_RC)) {
if (!rc_arm_checks(method)) { if (!rc_arm_checks(method)) {
return false; return false;
} }
} }
#endif
// ensure the GPS drivers are ready on any final changes // ensure the GPS drivers are ready on any final changes
if (check_enabled(ARMING_CHECK_GPS_CONFIG)) { if (check_enabled(ARMING_CHECK_GPS_CONFIG)) {
@ -1772,6 +1782,7 @@ AP_Arming::Required AP_Arming::arming_required() const
return require; return require;
} }
#if AP_RC_CHANNEL_ENABLED
// Copter and sub share the same RC input limits // Copter and sub share the same RC input limits
// Copter checks that min and max have been configured by default, Sub does not // Copter checks that min and max have been configured by default, Sub does not
bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channel *channels[4]) const bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channel *channels[4]) const
@ -1800,6 +1811,7 @@ bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channe
} }
return ret; return ret;
} }
#endif // AP_RC_CHANNEL_ENABLED
// check visual odometry is working // check visual odometry is working
bool AP_Arming::visodom_checks(bool display_failure) const bool AP_Arming::visodom_checks(bool display_failure) const
@ -1822,6 +1834,7 @@ bool AP_Arming::visodom_checks(bool display_failure) const
return true; return true;
} }
#if AP_RC_CHANNEL_ENABLED
// check disarm switch is asserted // check disarm switch is asserted
bool AP_Arming::disarm_switch_checks(bool display_failure) const bool AP_Arming::disarm_switch_checks(bool display_failure) const
{ {
@ -1834,6 +1847,7 @@ bool AP_Arming::disarm_switch_checks(bool display_failure) const
return true; return true;
} }
#endif // AP_RC_CHANNEL_ENABLED
void AP_Arming::Log_Write_Arm(const bool forced, const AP_Arming::Method method) void AP_Arming::Log_Write_Arm(const bool forced, const AP_Arming::Method method)
{ {