From 2ffabe9e056e6892f5e3fcaced39f84a3ad39d4b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 6 Nov 2015 17:10:08 +1100
Subject: [PATCH] AP_BoardConfig: fixed PX4v1 build
---
libraries/AP_BoardConfig/AP_BoardConfig.cpp | 7 +++++--
libraries/AP_BoardConfig/AP_BoardConfig.h | 2 ++
2 files changed, 7 insertions(+), 2 deletions(-)
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index 20d055b553..4698f8a320 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -86,7 +86,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @User: Standard
AP_GROUPINFO("SERIAL_NUM", 5, AP_BoardConfig, vehicleSerialNumber, 0),
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
// @Param: CAN_ENABLE
// @DisplayName: Enable use of UAVCAN devices
// @Description: Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory
@@ -97,7 +97,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
AP_GROUPEND
};
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
extern "C" int uavcan_main(int argc, const char *argv[]);
#endif
@@ -141,6 +141,7 @@ void AP_BoardConfig::init()
}
}
+#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
if (_can_enable == 1) {
const char *args[] = { "uavcan", "start", NULL };
int ret = uavcan_main(3, args);
@@ -152,6 +153,8 @@ void AP_BoardConfig::init()
hal.scheduler->delay(500);
}
}
+#endif
+
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
/* configure the VRBRAIN driver for the right number of PWMs */
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index b4eedf67b6..662e0ad902 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -29,8 +29,10 @@ private:
AP_Int8 _ser2_rtscts;
AP_Int8 _safety_enable;
AP_Int8 _sbus_out_enable;
+#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
AP_Int8 _can_enable;
#endif
+#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#endif