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AP_RCTelemetry: add define AP_AIRSPEED_ENABLED

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Josh Henderson 2021-11-01 04:13:20 -04:00 committed by Andrew Tridgell
parent 0e662bbf35
commit 56a30617e2
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp
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@ -433,13 +433,18 @@ void AP_Spektrum_Telem::calc_airspeed()
AP_AHRS &ahrs = AP::ahrs(); AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore()); WITH_SEMAPHORE(ahrs.get_semaphore());
const AP_Airspeed *airspeed = AP::airspeed();
float speed = 0.0f; float speed = 0.0f;
#if AP_AIRSPEED_ENABLED
const AP_Airspeed *airspeed = AP::airspeed();
if (airspeed && airspeed->healthy()) { if (airspeed && airspeed->healthy()) {
speed = roundf(airspeed->get_airspeed() * 3.6); speed = roundf(airspeed->get_airspeed() * 3.6);
} else { } else {
speed = roundf(AP::ahrs().groundspeed() * 3.6); speed = roundf(AP::ahrs().groundspeed() * 3.6);
} }
#else
speed = roundf(AP::ahrs().groundspeed() * 3.6);
#endif
_telem.speed.airspeed = htobe16(uint16_t(speed)); // 1 km/h increments _telem.speed.airspeed = htobe16(uint16_t(speed)); // 1 km/h increments
_max_speed = MAX(speed, _max_speed); _max_speed = MAX(speed, _max_speed);
_telem.speed.maxAirspeed = htobe16(uint16_t(_max_speed)); // 1 km/h increments _telem.speed.maxAirspeed = htobe16(uint16_t(_max_speed)); // 1 km/h increments