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Copter: correct defines around using payload place functionality 

we need support for the actual payload place flight behaviour as well as the navigation item support
This commit is contained in:
Peter Barker 2023-10-28 17:06:45 +11:00 committed by Andrew Tridgell
parent 4b4c6e8696
commit 2be4c0e3f5
2 changed files with 5 additions and 5 deletions
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2
ArduCopter/mode.h
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@ -501,7 +501,7 @@ public:
NAVGUIDED, NAVGUIDED,
LOITER, LOITER,
LOITER_TO_ALT, LOITER_TO_ALT,
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED #if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
NAV_PAYLOAD_PLACE, NAV_PAYLOAD_PLACE,
#endif #endif
NAV_SCRIPT_TIME, NAV_SCRIPT_TIME,

8
ArduCopter/mode_auto.cpp
View File

@ -149,7 +149,7 @@ void ModeAuto::run()
loiter_to_alt_run(); loiter_to_alt_run();
break; break;
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED #if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
case SubMode::NAV_PAYLOAD_PLACE: case SubMode::NAV_PAYLOAD_PLACE:
payload_place.run(); payload_place.run();
break; break;
@ -661,7 +661,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
do_nav_delay(cmd); do_nav_delay(cmd);
break; break;
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED #if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
case MAV_CMD_NAV_PAYLOAD_PLACE: // 94 place at Waypoint case MAV_CMD_NAV_PAYLOAD_PLACE: // 94 place at Waypoint
do_payload_place(cmd); do_payload_place(cmd);
break; break;
@ -871,7 +871,7 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
cmd_complete = verify_land(); cmd_complete = verify_land();
break; break;
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED #if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
case MAV_CMD_NAV_PAYLOAD_PLACE: case MAV_CMD_NAV_PAYLOAD_PLACE:
cmd_complete = payload_place.verify(); cmd_complete = payload_place.verify();
break; break;
@ -1923,7 +1923,7 @@ void ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd)
} }
#endif #endif
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED #if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
// do_payload_place - initiate placing procedure // do_payload_place - initiate placing procedure
void ModeAuto::do_payload_place(const AP_Mission::Mission_Command& cmd) void ModeAuto::do_payload_place(const AP_Mission::Mission_Command& cmd)
{ {