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Copter: fix compile when precland is not selected 

Fixes #5327
This commit is contained in:
Peter Barker 2016-12-05 21:06:08 +11:00 committed by Randy Mackay
parent e150ff369b
commit 556eb88fe5
3 changed files with 8 additions and 4 deletions
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2
ArduCopter/Copter.h
View File

@ -909,10 +909,12 @@ private:
bool landing_with_GPS(); bool landing_with_GPS();
bool loiter_init(bool ignore_checks); bool loiter_init(bool ignore_checks);
void loiter_run(); void loiter_run();
#if PRECISION_LANDING == ENABLED
bool do_precision_loiter() const; bool do_precision_loiter() const;
void precision_loiter_xy(); void precision_loiter_xy();
void set_precision_loiter_enabled(bool value) { _precision_loiter_enabled = value; } void set_precision_loiter_enabled(bool value) { _precision_loiter_enabled = value; }
bool _precision_loiter_enabled; bool _precision_loiter_enabled;
#endif
bool poshold_init(bool ignore_checks); bool poshold_init(bool ignore_checks);
void poshold_run(); void poshold_run();
void poshold_update_pilot_lean_angle(float &lean_angle_filtered, float &lean_angle_raw); void poshold_update_pilot_lean_angle(float &lean_angle_filtered, float &lean_angle_raw);

8
ArduCopter/control_loiter.cpp
View File

@ -35,11 +35,9 @@ bool Copter::loiter_init(bool ignore_checks)
} }
} }
#if PRECISION_LANDING == ENABLED
bool Copter::do_precision_loiter() const bool Copter::do_precision_loiter() const
{ {
#if PRECISION_LANDING != ENABLED
return false;
#else
if (!_precision_loiter_enabled) { if (!_precision_loiter_enabled) {
return false; return false;
} }
@ -54,7 +52,6 @@ bool Copter::do_precision_loiter() const
return false; // we don't have a good vector return false; // we don't have a good vector
} }
return true; return true;
#endif
} }
void Copter::precision_loiter_xy() void Copter::precision_loiter_xy()
@ -72,6 +69,7 @@ void Copter::precision_loiter_xy()
pos_control.set_xy_target(target_pos.x, target_pos.y); pos_control.set_xy_target(target_pos.x, target_pos.y);
pos_control.override_vehicle_velocity_xy(-target_vel_rel); pos_control.override_vehicle_velocity_xy(-target_vel_rel);
} }
#endif
// loiter_run - runs the loiter controller // loiter_run - runs the loiter controller
// should be called at 100hz or more // should be called at 100hz or more
@ -196,9 +194,11 @@ void Copter::loiter_run()
// set motors to full range // set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
#if PRECISION_LANDING == ENABLED
if (do_precision_loiter()) { if (do_precision_loiter()) {
precision_loiter_xy(); precision_loiter_xy();
} }
#endif
// run loiter controller // run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);

2
ArduCopter/switches.cpp
View File

@ -550,6 +550,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break; break;
case AUXSW_PRECISION_LOITER: case AUXSW_PRECISION_LOITER:
#if PRECISION_LANDING == ENABLED
switch (ch_flag) { switch (ch_flag) {
case AUX_SWITCH_HIGH: case AUX_SWITCH_HIGH:
set_precision_loiter_enabled(true); set_precision_loiter_enabled(true);
@ -558,6 +559,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
set_precision_loiter_enabled(false); set_precision_loiter_enabled(false);
break; break;
} }
#endif
break; break;
} }