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GCS_MAVLink: change AC_FENCE to AP_FENCE_ENABLED

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This commit is contained in:
Iampete1 2022-07-19 12:33:13 +01:00 committed by Andrew Tridgell
parent a9310c3d18
commit 31bc6d9ec4
5 changed files with 14 additions and 14 deletions
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4
libraries/GCS_MAVLink/GCS.cpp
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@ -38,7 +38,7 @@ void GCS::get_sensor_status_flags(uint32_t &present,
MissionItemProtocol_Waypoints *GCS::_missionitemprotocol_waypoints;
MissionItemProtocol_Rally *GCS::_missionitemprotocol_rally;
#if AC_FENCE
#if AP_FENCE_ENABLED
MissionItemProtocol_Fence *GCS::_missionitemprotocol_fence;
#endif
@ -269,7 +269,7 @@ void GCS::update_sensor_status_flags()
}
#endif
#if !defined(HAL_BUILD_AP_PERIPH) && AC_FENCE
#if !defined(HAL_BUILD_AP_PERIPH) && AP_FENCE_ENABLED
const AC_Fence *fence = AP::fence();
if (fence != nullptr) {
if (fence->sys_status_enabled()) {

2
libraries/GCS_MAVLink/GCS.h
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@ -1064,7 +1064,7 @@ public:
static class MissionItemProtocol_Waypoints *_missionitemprotocol_waypoints;
static class MissionItemProtocol_Rally *_missionitemprotocol_rally;
#if AC_FENCE
#if AP_FENCE_ENABLED
static class MissionItemProtocol_Fence *_missionitemprotocol_fence;
#endif
class MissionItemProtocol *get_prot_for_mission_type(const MAV_MISSION_TYPE mission_type) const;

6
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -561,7 +561,7 @@ MissionItemProtocol *GCS::get_prot_for_mission_type(const MAV_MISSION_TYPE missi
return _missionitemprotocol_waypoints;
case MAV_MISSION_TYPE_RALLY:
return _missionitemprotocol_rally;
#if AC_FENCE
#if AP_FENCE_ENABLED
case MAV_MISSION_TYPE_FENCE:
return _missionitemprotocol_fence;
#endif
@ -2196,7 +2196,7 @@ void GCS::send_message(enum ap_message id)
void GCS::update_send()
{
update_send_has_been_called = true;
#if !defined(HAL_BUILD_AP_PERIPH) && AC_FENCE
#if !defined(HAL_BUILD_AP_PERIPH) && AP_FENCE_ENABLED
if (!initialised_missionitemprotocol_objects) {
initialised_missionitemprotocol_objects = true;
// once-only initialisation of MissionItemProtocol objects:
@ -6164,7 +6164,7 @@ uint64_t GCS_MAVLINK::capabilities() const
}
#endif
#if AC_FENCE
#if AP_FENCE_ENABLED
if (AP::fence()) {
ret |= MAV_PROTOCOL_CAPABILITY_MISSION_FENCE;
}

12
libraries/GCS_MAVLink/GCS_Fence.cpp
View File

@ -6,7 +6,7 @@
MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_long_t &packet)
{
#if AC_FENCE
#if AP_FENCE_ENABLED
AC_Fence *fence = AP::fence();
if (fence == nullptr) {
return MAV_RESULT_UNSUPPORTED;
@ -32,12 +32,12 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_lon
}
#else
return MAV_RESULT_UNSUPPORTED;
#endif // AC_FENCE
#endif // AP_FENCE_ENABLED
}
void GCS_MAVLINK::handle_fence_message(const mavlink_message_t &msg)
{
#if AC_FENCE
#if AP_FENCE_ENABLED
AC_Fence *fence = AP::fence();
if (fence == nullptr) {
return;
@ -54,13 +54,13 @@ void GCS_MAVLINK::handle_fence_message(const mavlink_message_t &msg)
#endif
break;
}
#endif // AC_FENCE
#endif // AP_FENCE_ENABLED
}
// fence_send_mavlink_status - send fence status to ground station
void GCS_MAVLINK::send_fence_status() const
{
#if AC_FENCE
#if AP_FENCE_ENABLED
const AC_Fence *fence = AP::fence();
if (fence == nullptr) {
return;
@ -102,5 +102,5 @@ void GCS_MAVLINK::send_fence_status() const
mavlink_breach_type,
fence->get_breach_time(),
breach_mitigation);
#endif // AC_FENCE
#endif // AP_FENCE_ENABLED
}

4
libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp
View File

@ -4,7 +4,7 @@
#include <AP_InternalError/AP_InternalError.h>
#include <GCS_MAVLink/GCS.h>
#if AC_FENCE
#if AP_FENCE_ENABLED
/*
public function to format mission item as mavlink_mission_item_int_t
@ -244,4 +244,4 @@ MAV_MISSION_RESULT MissionItemProtocol_Fence::allocate_update_resources()
return MAV_MISSION_ACCEPTED;
}
#endif // AC_FENCE
#endif // AP_FENCE_ENABLED