mirror of https://github.com/ArduPilot/ardupilot
GCS_MAVLink: correct compilation when AP_AHRS_ENABLED is off
e.g. CubeOrange-periph-heavy
This commit is contained in:
Peter Barker
Peter Barker
parent
7e0ea05ae9
commit
5b5ee4e95d
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@ -261,7 +261,7 @@ void GCS::update_sensor_status_flags()
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_AHRS_ENABLED
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if (ahrs.get_ekf_type() == 10) {
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// always show EKF type 10 as healthy. This prevents spurious error
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// messages in xplane and other simulators that use EKF type 10
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@ -290,7 +290,12 @@ void GCS::update_sensor_status_flags()
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if (airspeed && airspeed->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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const bool use = airspeed->use();
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#if AP_AHRS_ENABLED
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const bool enabled = AP::ahrs().airspeed_sensor_enabled();
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#else
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const AP_Airspeed *_airspeed = AP::airspeed();
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const bool enabled = (_airspeed != nullptr && _airspeed->use());
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#endif
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if (use) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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@ -554,6 +554,7 @@ void GCS_MAVLINK::send_proximity()
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// report AHRS2 state
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void GCS_MAVLINK::send_ahrs2()
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{
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#if AP_AHRS_ENABLED
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const AP_AHRS &ahrs = AP::ahrs();
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Vector3f euler;
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Location loc {};
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@ -568,6 +569,7 @@ void GCS_MAVLINK::send_ahrs2()
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loc.lat,
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loc.lng);
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}
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#endif
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}
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MissionItemProtocol *GCS::get_prot_for_mission_type(const MAV_MISSION_TYPE mission_type) const
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@ -2191,6 +2193,7 @@ void GCS_MAVLINK::send_scaled_pressure3()
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void GCS_MAVLINK::send_ahrs()
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{
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#if AP_AHRS_ENABLED
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const AP_AHRS &ahrs = AP::ahrs();
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const Vector3f &omega_I = ahrs.get_gyro_drift();
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mavlink_msg_ahrs_send(
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@ -2202,6 +2205,7 @@ void GCS_MAVLINK::send_ahrs()
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0,
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ahrs.get_error_rp(),
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ahrs.get_error_yaw());
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#endif
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}
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/*
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@ -2752,6 +2756,7 @@ void GCS_MAVLINK::send_autopilot_version() const
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*/
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void GCS_MAVLINK::send_local_position() const
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{
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#if AP_AHRS_ENABLED
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const AP_AHRS &ahrs = AP::ahrs();
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Vector3f local_position, velocity;
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@ -2770,6 +2775,7 @@ void GCS_MAVLINK::send_local_position() const
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velocity.x,
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velocity.y,
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velocity.z);
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#endif
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}
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/*
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@ -3134,11 +3140,13 @@ float GCS_MAVLINK::vfr_hud_airspeed() const
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float GCS_MAVLINK::vfr_hud_climbrate() const
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{
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#if AP_AHRS_ENABLED
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Vector3f velned;
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if (AP::ahrs().get_velocity_NED(velned) ||
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AP::ahrs().get_vert_pos_rate_D(velned.z)) {
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return -velned.z;
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}
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#endif
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return 0;
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}
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@ -3149,6 +3157,7 @@ float GCS_MAVLINK::vfr_hud_alt() const
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void GCS_MAVLINK::send_vfr_hud()
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{
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#if AP_AHRS_ENABLED
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AP_AHRS &ahrs = AP::ahrs();
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// return values ignored; we send stale data
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@ -3162,6 +3171,7 @@ void GCS_MAVLINK::send_vfr_hud()
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abs(vfr_hud_throttle()),
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vfr_hud_alt(),
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vfr_hud_climbrate());
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#endif
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}
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/*
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@ -3514,6 +3524,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_camera(const mavlink_command_int_t &packe
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#endif
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#if AP_AHRS_ENABLED
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// sets ekf_origin if it has not been set.
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// should only be used when there is no GPS to provide an absolute position
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void GCS_MAVLINK::set_ekf_origin(const Location& loc)
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@ -3561,6 +3572,7 @@ void GCS_MAVLINK::handle_set_gps_global_origin(const mavlink_message_t &msg)
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ekf_origin.alt = packet.altitude / 10;
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set_ekf_origin(ekf_origin);
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}
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#endif // AP_AHRS_ENABLED
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/*
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handle a DATA96 message
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@ -3931,9 +3943,11 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
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handle_common_param_message(msg);
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break;
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#if AP_AHRS_ENABLED
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case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
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handle_set_gps_global_origin(msg);
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break;
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#endif
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#if AP_MAVLINK_MSG_DEVICE_OP_ENABLED
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case MAVLINK_MSG_ID_DEVICE_OP_READ:
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@ -4448,9 +4462,11 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_comm
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#endif
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#if AP_INERTIALSENSOR_ENABLED
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#if AP_AHRS_ENABLED
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if (packet.x == 2) {
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return AP::ins().calibrate_trim();
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}
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#endif
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if (packet.x == 4) {
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// simple accel calibration
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@ -4623,6 +4639,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_debug_trap(const mavlink_command_int_t &p
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return MAV_RESULT_UNSUPPORTED;
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}
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#if AP_AHRS_ENABLED
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MAV_RESULT GCS_MAVLINK::handle_command_set_ekf_source_set(const mavlink_command_int_t &packet)
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{
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// source set must be between 1 and 3
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@ -4634,6 +4651,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_set_ekf_source_set(const mavlink_command_
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}
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return MAV_RESULT_DENIED;
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}
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#endif
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#if AP_GRIPPER_ENABLED
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MAV_RESULT GCS_MAVLINK::handle_command_do_gripper(const mavlink_command_int_t &packet)
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@ -5242,8 +5260,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
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}
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#endif // AP_SCRIPTING_ENABLED
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#if AP_AHRS_ENABLED
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case MAV_CMD_SET_EKF_SOURCE_SET:
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return handle_command_set_ekf_source_set(packet);
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#endif
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case MAV_CMD_START_RX_PAIR:
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return handle_START_RX_PAIR(packet);
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@ -5438,6 +5458,7 @@ void GCS_MAVLINK::send_extended_sys_state() const
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void GCS_MAVLINK::send_attitude() const
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{
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#if AP_AHRS_ENABLED
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const AP_AHRS &ahrs = AP::ahrs();
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const Vector3f omega = ahrs.get_gyro();
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mavlink_msg_attitude_send(
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@ -5449,10 +5470,12 @@ void GCS_MAVLINK::send_attitude() const
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omega.x,
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omega.y,
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omega.z);
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#endif
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}
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void GCS_MAVLINK::send_attitude_quaternion() const
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{
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#if AP_AHRS_ENABLED
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const AP_AHRS &ahrs = AP::ahrs();
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Quaternion quat;
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if (!ahrs.get_quaternion(quat)) {
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@ -5472,19 +5495,26 @@ void GCS_MAVLINK::send_attitude_quaternion() const
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omega.z, // yawspeed
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repr_offseq_q
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);
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#endif
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}
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int32_t GCS_MAVLINK::global_position_int_alt() const {
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return global_position_current_loc.alt * 10UL;
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}
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int32_t GCS_MAVLINK::global_position_int_relative_alt() const {
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#if AP_AHRS_ENABLED
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float posD;
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AP::ahrs().get_relative_position_D_home(posD);
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posD *= -1000.0f; // change from down to up and metres to millimeters
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return posD;
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#else
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return 0;
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#endif
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}
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void GCS_MAVLINK::send_global_position_int()
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{
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#if AP_AHRS_ENABLED
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AP_AHRS &ahrs = AP::ahrs();
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UNUSED_RESULT(ahrs.get_location(global_position_current_loc)); // return value ignored; we send stale data
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@ -5505,6 +5535,7 @@ void GCS_MAVLINK::send_global_position_int()
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vel.y * 100, // Y speed cm/s (+ve East)
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vel.z * 100, // Z speed cm/s (+ve Down)
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ahrs.yaw_sensor); // compass heading in 1/100 degree
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#endif // AP_AHRS_ENABLED
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}
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#if HAL_MOUNT_ENABLED
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@ -5802,10 +5833,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
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#endif
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#endif // AP_BATTERY_ENABLED
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#if AP_AHRS_ENABLED
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case MSG_EKF_STATUS_REPORT:
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CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT);
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AP::ahrs().send_ekf_status_report(*this);
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break;
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#endif
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case MSG_MEMINFO:
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CHECK_PAYLOAD_SIZE(MEMINFO);
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@ -6721,6 +6754,7 @@ GCS &gcs()
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#if HAL_HIGH_LATENCY2_ENABLED
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void GCS_MAVLINK::send_high_latency2() const
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{
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#if AP_AHRS_ENABLED
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AP_AHRS &ahrs = AP::ahrs();
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Location global_position_current;
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UNUSED_RESULT(ahrs.get_location(global_position_current));
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@ -6799,6 +6833,7 @@ void GCS_MAVLINK::send_high_latency2() const
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base_mode(), // Field for custom payload. base mode (arming status) in ArduPilot's case
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0, // Field for custom payload.
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0); // Field for custom payload.
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#endif
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}
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int8_t GCS_MAVLINK::high_latency_air_temperature() const
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