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Copter: fix build error when landinggear disabled

This commit is contained in:
chobits 2021-04-06 11:22:13 +08:00 committed by Randy Mackay
parent b3dbc21fa7
commit 28fbc73fb6
1 changed files with 6 additions and 0 deletions
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6
ArduCopter/land_detector.cpp
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@ -69,10 +69,12 @@ void Copter::update_land_detector()
#endif
uint8_t land_detector_scalar = 1;
#if LANDING_GEAR_ENABLED == ENABLED
if (landinggear.get_wow_state() != AP_LandingGear::LG_WOW_UNKNOWN) {
// we have a WoW sensor so lets loosen the strictness of the landing detector
land_detector_scalar = 2;
}
#endif
// check that the airframe is not accelerating (not falling or braking after fast forward flight)
bool accel_stationary = (land_accel_ef_filter.get().length() <= LAND_DETECTOR_ACCEL_MAX * land_detector_scalar);
@ -84,7 +86,11 @@ void Copter::update_land_detector()
bool rangefinder_check = (!rangefinder_alt_ok() || rangefinder_state.alt_cm_filt.get() < LAND_RANGEFINDER_MIN_ALT_CM);
// if we have weight on wheels (WoW) or ambiguous unknown. never no WoW
#if LANDING_GEAR_ENABLED == ENABLED
const bool WoW_check = (landinggear.get_wow_state() == AP_LandingGear::LG_WOW || landinggear.get_wow_state() == AP_LandingGear::LG_WOW_UNKNOWN);
#else
const bool WoW_check = true;
#endif
if (motor_at_lower_limit && accel_stationary && descent_rate_low && rangefinder_check && WoW_check) {
// landed criteria met - increment the counter and check if we've triggered