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GCS_MAVLink: correct compilation if rangefinder disabled

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This commit is contained in:
Peter Barker 2023-10-26 10:05:11 +11:00 committed by Peter Barker
parent 98d6e365d7
commit 2ac9cc94c6
2 changed files with 17 additions and 3 deletions
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3
libraries/GCS_MAVLink/GCS.h
View File

@ -23,6 +23,7 @@
#include <AP_GPS/AP_GPS.h>
#include <AP_Mount/AP_Mount_config.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_RangeFinder/AP_RangeFinder_config.h>
#include "ap_message.h"
@ -338,7 +339,9 @@ public:
void send_distance_sensor();
// send_rangefinder sends only if a downward-facing instance is
// found. Rover overrides this!
#if AP_RANGEFINDER_ENABLED
virtual void send_rangefinder() const;
#endif
void send_proximity();
virtual void send_nav_controller_output() const = 0;
virtual void send_pid_tuning() = 0;

17
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -378,6 +378,7 @@ bool GCS_MAVLINK::send_battery_status()
}
#endif // AP_BATTERY_ENABLED
#if AP_RANGEFINDER_ENABLED
void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const
{
if (!sensor->has_data()) {
@ -408,11 +409,14 @@ void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, con
(const float *)nullptr, // quaternion of sensor orientation for MAV_SENSOR_ROTATION_CUSTOM
quality); // Signal quality of the sensor. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.
}
#endif // AP_RANGEFINDER_ENABLED
// send any and all distance_sensor messages. This starts by sending
// any distance sensors not used by a Proximity sensor, then sends the
// proximity sensor ones.
void GCS_MAVLINK::send_distance_sensor()
{
#if AP_RANGEFINDER_ENABLED
RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder == nullptr) {
return;
@ -450,12 +454,14 @@ void GCS_MAVLINK::send_distance_sensor()
send_distance_sensor(sensor, i);
}
}
#endif // AP_RANGEFINDER_ENABLED
#if HAL_PROXIMITY_ENABLED
send_proximity();
#endif
}
#if AP_RANGEFINDER_ENABLED
void GCS_MAVLINK::send_rangefinder() const
{
RangeFinder *rangefinder = RangeFinder::get_singleton();
@ -471,6 +477,7 @@ void GCS_MAVLINK::send_rangefinder() const
s->distance(),
s->voltage_mv() * 0.001f);
}
#endif
#if HAL_PROXIMITY_ENABLED
void GCS_MAVLINK::send_proximity()
@ -3782,10 +3789,12 @@ void GCS_MAVLINK::handle_can_frame(const mavlink_message_t &msg) const
void GCS_MAVLINK::handle_distance_sensor(const mavlink_message_t &msg)
{
#if AP_RANGEFINDER_ENABLED
RangeFinder *rangefinder = AP::rangefinder();
if (rangefinder != nullptr) {
rangefinder->handle_msg(msg);
}
#endif
#if HAL_PROXIMITY_ENABLED
AP_Proximity *proximity = AP::proximity();
@ -5478,7 +5487,7 @@ void GCS_MAVLINK::send_generator_status() const
}
#endif
#if APM_BUILD_TYPE(APM_BUILD_Rover)
#if AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
void GCS_MAVLINK::send_water_depth() const
{
if (!HAVE_PAYLOAD_SPACE(chan, WATER_DEPTH)) {
@ -5527,7 +5536,7 @@ void GCS_MAVLINK::send_water_depth() const
}
}
#endif
#endif // AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
#if HAL_ADSB_ENABLED
void GCS_MAVLINK::send_uavionix_adsb_out_status() const
@ -5720,10 +5729,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
#endif
#if AP_RANGEFINDER_ENABLED
case MSG_RANGEFINDER:
CHECK_PAYLOAD_SIZE(RANGEFINDER);
send_rangefinder();
break;
#endif
case MSG_DISTANCE_SENSOR:
send_distance_sensor();
@ -5990,7 +6001,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
case MSG_WATER_DEPTH:
#if APM_BUILD_TYPE(APM_BUILD_Rover)
#if AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
CHECK_PAYLOAD_SIZE(WATER_DEPTH);
send_water_depth();
#endif