mirror of https://github.com/ArduPilot/ardupilot
AP_Mission: correct compilation when AP_MISSION_ENABLED is false
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@ -1,13 +1,17 @@
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/// @file AP_Mission.cpp
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/// @brief Handles the MAVLINK command mission stack. Reads and writes mission to storage.
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#include "AP_Mission_config.h"
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <AP_Gripper/AP_Gripper_config.h>
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#include <GCS_MAVLink/GCS.h>
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#if AP_MISSION_ENABLED
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#include "AP_Mission.h"
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#include <AP_Terrain/AP_Terrain.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Camera/AP_Camera.h>
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#include <AP_Gripper/AP_Gripper_config.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents_config.h>
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#include <RC_Channel/RC_Channel_config.h>
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@ -828,6 +832,8 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
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return true;
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}
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#endif // AP_MISSION_ENABLED
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bool AP_Mission::stored_in_location(uint16_t id)
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{
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switch (id) {
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@ -854,6 +860,8 @@ bool AP_Mission::stored_in_location(uint16_t id)
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}
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}
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#if AP_MISSION_ENABLED
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/// write_cmd_to_storage - write a command to storage
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/// index is used to calculate the storage location
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/// true is returned if successful
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@ -926,6 +934,8 @@ void AP_Mission::write_home_to_storage()
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write_cmd_to_storage(0,home_cmd);
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}
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#endif // AP_MISSION_ENABLED
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MAV_MISSION_RESULT AP_Mission::sanity_check_params(const mavlink_mission_item_int_t& packet)
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{
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uint8_t nan_mask;
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@ -1486,6 +1496,8 @@ MAV_MISSION_RESULT AP_Mission::convert_MISSION_ITEM_INT_to_MISSION_ITEM(const ma
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return MAV_MISSION_ACCEPTED;
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}
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#if AP_MISSION_ENABLED
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// mission_cmd_to_mavlink_int - converts an AP_Mission::Mission_Command object to a mavlink message which can be sent to the GCS
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// return true on success, false on failure
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// NOTE: callers to this method current fill parts of "packet" in before calling this method, so do NOT attempt to zero the entire packet in here
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@ -2717,6 +2729,8 @@ bool AP_Mission::contains_item(MAV_CMD command) const
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return false;
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}
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#endif // AP_MISSION_ENABLED
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/*
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return true if the mission item has a location
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*/
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@ -2726,6 +2740,8 @@ bool AP_Mission::cmd_has_location(const uint16_t command)
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return stored_in_location(command);
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}
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#if AP_MISSION_ENABLED
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/*
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return true if the mission has a terrain relative item. ~2200us for 530 items on H7
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*/
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@ -2901,3 +2917,5 @@ AP_Mission *mission()
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}
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}
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#endif // AP_MISSION_ENABLED
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@ -1,3 +1,7 @@
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#include "AP_Mission_config.h"
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#if AP_MISSION_ENABLED
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#include "AP_Mission.h"
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#include <GCS_MAVLink/GCS.h>
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@ -332,3 +336,5 @@ bool AP_Mission::start_command_do_gimbal_manager_pitchyaw(const AP_Mission::Miss
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// if we got this far then message is not handled
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return false;
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}
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#endif // AP_MISSION_ENABLED
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