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AP_Baro: disable BARO_FIELD_ELV for sub

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Clyde McQueen 2024-04-02 07:38:41 -07:00 committed by Peter Barker
parent 7f61acedd3
commit 52a9bb7792
1 changed files with 8 additions and 2 deletions
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10
libraries/AP_Baro/AP_Baro.cpp
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@ -74,6 +74,10 @@
#define HAL_BARO_ALLOW_INIT_NO_BARO #define HAL_BARO_ALLOW_INIT_NO_BARO
#endif #endif
#ifndef AP_FIELD_ELEVATION_ENABLED
#define AP_FIELD_ELEVATION_ENABLED !defined(HAL_BUILD_AP_PERIPH) && !APM_BUILD_TYPE(APM_BUILD_ArduSub)
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
// table of user settable parameters // table of user settable parameters
@ -219,7 +223,7 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = {
// @Path: AP_Baro_Wind.cpp // @Path: AP_Baro_Wind.cpp
AP_SUBGROUPINFO(sensors[2].wind_coeff, "3_WCF_", 20, AP_Baro, WindCoeff), AP_SUBGROUPINFO(sensors[2].wind_coeff, "3_WCF_", 20, AP_Baro, WindCoeff),
#endif #endif
#ifndef HAL_BUILD_AP_PERIPH #if AP_FIELD_ELEVATION_ENABLED
// @Param: _FIELD_ELV // @Param: _FIELD_ELV
// @DisplayName: field elevation // @DisplayName: field elevation
// @Description: User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level. // @Description: User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.
@ -958,7 +962,7 @@ void AP_Baro::update(void)
} }
} }
} }
#ifndef HAL_BUILD_AP_PERIPH #if AP_FIELD_ELEVATION_ENABLED
update_field_elevation(); update_field_elevation();
#endif #endif
@ -1004,6 +1008,7 @@ bool AP_Baro::healthy(uint8_t instance) const {
*/ */
void AP_Baro::update_field_elevation(void) void AP_Baro::update_field_elevation(void)
{ {
#if AP_FIELD_ELEVATION_ENABLED
const uint32_t now_ms = AP_HAL::millis(); const uint32_t now_ms = AP_HAL::millis();
bool new_field_elev = false; bool new_field_elev = false;
const bool armed = hal.util->get_soft_armed(); const bool armed = hal.util->get_soft_armed();
@ -1035,6 +1040,7 @@ void AP_Baro::update_field_elevation(void)
update_calibration(); update_calibration();
BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Field Elevation Set: %.0fm", _field_elevation_active); BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Field Elevation Set: %.0fm", _field_elevation_active);
} }
#endif
} }
/* /*