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ArduCopter: save some bytes by removing empty methods based on #ifs

This commit is contained in:
Peter Barker 2022-07-16 10:42:08 +10:00 committed by Peter Barker
parent cbd591f2ba
commit 3480a8f9f9
2 changed files with 8 additions and 4 deletions
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8
ArduCopter/GCS_Mavlink.cpp
View File

@ -729,10 +729,10 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
} }
} }
#if HAL_MOUNT_ENABLED
MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_long_t &packet)
{ {
switch (packet.command) { switch (packet.command) {
#if HAL_MOUNT_ENABLED
case MAV_CMD_DO_MOUNT_CONTROL: case MAV_CMD_DO_MOUNT_CONTROL:
// if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead // if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) && if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) &&
@ -742,12 +742,12 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_long_t
0.0f); 0.0f);
} }
break; break;
#endif
default: default:
break; break;
} }
return GCS_MAVLINK::handle_command_mount(packet); return GCS_MAVLINK::handle_command_mount(packet);
} }
#endif
MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_long_t &packet)
{ {
@ -1025,10 +1025,10 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_pause_continue(const mavlink_comma
return MAV_RESULT_DENIED; return MAV_RESULT_DENIED;
} }
#if HAL_MOUNT_ENABLED
void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg) void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg)
{ {
switch (msg.msgid) { switch (msg.msgid) {
#if HAL_MOUNT_ENABLED
case MAVLINK_MSG_ID_MOUNT_CONTROL: case MAVLINK_MSG_ID_MOUNT_CONTROL:
// if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead // if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) && if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) &&
@ -1039,10 +1039,10 @@ void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg)
break; break;
} }
#endif
} }
GCS_MAVLINK::handle_mount_message(msg); GCS_MAVLINK::handle_mount_message(msg);
} }
#endif
void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg) void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
{ {

4
ArduCopter/GCS_Mavlink.h
View File

@ -29,13 +29,17 @@ protected:
MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override; MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet) override; MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet) override;
#if HAL_MOUNT_ENABLED
MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet) override; MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet) override;
#endif
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override; MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override; MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet); MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_pause_continue(const mavlink_command_int_t &packet); MAV_RESULT handle_command_pause_continue(const mavlink_command_int_t &packet);
#if HAL_MOUNT_ENABLED
void handle_mount_message(const mavlink_message_t &msg) override; void handle_mount_message(const mavlink_message_t &msg) override;
#endif
void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) override; void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) override;