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AP_NMEA_Output: add and use AP_AHRS_ENABLED

This commit is contained in:
Peter Barker 2023-06-20 16:26:06 +10:00 committed by Peter Barker
parent e11384454f
commit 55eec0ff09
1 changed files with 5 additions and 4 deletions
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9
libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
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@ -30,8 +30,9 @@
#include <AP_Common/NMEA.h>
#include <stdio.h>
#include <time.h>
#include <AP_AHRS/AP_AHRS_config.h>
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_AHRS)
#if AP_AHRS_ENABLED
#include <AP_AHRS/AP_AHRS.h>
#endif
@ -113,7 +114,7 @@ void AP_NMEA_Output::update()
const auto &gps = AP::gps();
const AP_GPS::GPS_Status gps_status = gps.status();
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_AHRS)
#if AP_AHRS_ENABLED
auto &ahrs = AP::ahrs();
// NOTE: ahrs.get_location() always returns true after having GPS position once because it will be dead-reckoning
const bool pos_valid = ahrs.get_location(loc);
@ -217,7 +218,7 @@ void AP_NMEA_Output::update()
snprintf(dstring, sizeof(dstring), "%02u%02u%02u", tm->tm_mday, tm->tm_mon+1, tm->tm_year % 100);
// get speed
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_AHRS)
#if AP_AHRS_ENABLED
const Vector2f speed = ahrs.groundspeed_vector();
const float speed_knots = speed.length() * M_PER_SEC_TO_KNOTS;
const float heading = wrap_360(degrees(atan2f(speed.x, speed.y)));
@ -242,7 +243,7 @@ void AP_NMEA_Output::update()
uint16_t pashr_length = 0;
char pashr[100];
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_AHRS)
#if AP_AHRS_ENABLED
if ((_message_enable_bitmask.get() & static_cast<int16_t>(Enabled_Messages::PASHR)) != 0) {
// get roll, pitch, yaw
const float roll_deg = wrap_180(degrees(ahrs.get_roll()));