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AP_Avoidance: conditionally compile based on ADSB support

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Andy Piper 2020-09-19 09:40:47 +01:00 committed by Andrew Tridgell
parent 465357e715
commit 32cd6b487e
2 changed files with 9 additions and 0 deletions
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4
libraries/AP_Avoidance/AP_Avoidance.cpp
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@ -1,5 +1,7 @@
#include "AP_Avoidance.h" #include "AP_Avoidance.h"
#if HAL_ADSB_ENABLED
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#include <limits> #include <limits>
@ -680,3 +682,5 @@ AP_Avoidance *ap_avoidance()
} }
} }
#endif // HAL_ADSB_ENABLED

5
libraries/AP_Avoidance/AP_Avoidance.h
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@ -27,6 +27,8 @@
#include <AP_ADSB/AP_ADSB.h> #include <AP_ADSB/AP_ADSB.h>
#if HAL_ADSB_ENABLED
#define AP_AVOIDANCE_STATE_RECOVERY_TIME_MS 2000 // we will not downgrade state any faster than this (2 seconds) #define AP_AVOIDANCE_STATE_RECOVERY_TIME_MS 2000 // we will not downgrade state any faster than this (2 seconds)
#define AP_AVOIDANCE_ESCAPE_TIME_SEC 2 // vehicle runs from thread for 2 seconds #define AP_AVOIDANCE_ESCAPE_TIME_SEC 2 // vehicle runs from thread for 2 seconds
@ -229,3 +231,6 @@ float closest_approach_z(const Location &my_loc,
namespace AP { namespace AP {
AP_Avoidance *ap_avoidance(); AP_Avoidance *ap_avoidance();
}; };
#endif