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RC_Channel: create define specifically for the developer feature for killing IMUs

This commit is contained in:
Peter Barker 2023-06-06 12:12:12 +10:00 committed by Andrew Tridgell
parent baf5d34256
commit 3517884002
1 changed files with 4 additions and 2 deletions
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6
libraries/RC_Channel/RC_Channel.cpp
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@ -679,9 +679,11 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
#if AP_GRIPPER_ENABLED #if AP_GRIPPER_ENABLED
case AUX_FUNC::GRIPPER: case AUX_FUNC::GRIPPER:
#endif #endif
#if AP_INERTIALSENSOR_KILL_IMU_ENABLED
case AUX_FUNC::KILL_IMU1: case AUX_FUNC::KILL_IMU1:
case AUX_FUNC::KILL_IMU2: case AUX_FUNC::KILL_IMU2:
case AUX_FUNC::KILL_IMU3: case AUX_FUNC::KILL_IMU3:
#endif
case AUX_FUNC::MISSION_RESET: case AUX_FUNC::MISSION_RESET:
case AUX_FUNC::MOTOR_ESTOP: case AUX_FUNC::MOTOR_ESTOP:
case AUX_FUNC::RC_OVERRIDE_ENABLE: case AUX_FUNC::RC_OVERRIDE_ENABLE:
@ -1440,7 +1442,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
} }
#endif #endif
#if !HAL_MINIMIZE_FEATURES #if AP_INERTIALSENSOR_KILL_IMU_ENABLED
case AUX_FUNC::KILL_IMU1: case AUX_FUNC::KILL_IMU1:
AP::ins().kill_imu(0, ch_flag == AuxSwitchPos::HIGH); AP::ins().kill_imu(0, ch_flag == AuxSwitchPos::HIGH);
break; break;
@ -1452,7 +1454,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
case AUX_FUNC::KILL_IMU3: case AUX_FUNC::KILL_IMU3:
AP::ins().kill_imu(2, ch_flag == AuxSwitchPos::HIGH); AP::ins().kill_imu(2, ch_flag == AuxSwitchPos::HIGH);
break; break;
#endif // HAL_MINIMIZE_FEATURES #endif // AP_INERTIALSENSOR_KILL_IMU_ENABLED
#if AP_CAMERA_ENABLED #if AP_CAMERA_ENABLED
case AUX_FUNC::CAMERA_TRIGGER: case AUX_FUNC::CAMERA_TRIGGER: