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AP_Arming: wrap things in P_INERTIALSENSOR_ENABLED

This commit is contained in:
Tom Pittenger 2023-07-03 18:27:30 -07:00 committed by Tom Pittenger
parent 217253b58f
commit 5cbb776951
2 changed files with 10 additions and 1 deletions
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6
libraries/AP_Arming/AP_Arming.cpp
View File

@ -326,6 +326,7 @@ bool AP_Arming::logging_checks(bool report)
return true;
}
#if AP_INERTIALSENSOR_ENABLED
bool AP_Arming::ins_accels_consistent(const AP_InertialSensor &ins)
{
const uint8_t accel_count = ins.get_accel_count();
@ -488,6 +489,7 @@ bool AP_Arming::ins_checks(bool report)
return true;
}
#endif // AP_INERTIALSENSOR_ENABLED
bool AP_Arming::compass_checks(bool report)
{
@ -1495,7 +1497,9 @@ bool AP_Arming::pre_arm_checks(bool report)
& heater_min_temperature_checks(report)
#endif
& barometer_checks(report)
#if AP_INERTIALSENSOR_ENABLED
& ins_checks(report)
#endif
& compass_checks(report)
& gps_checks(report)
& battery_checks(report)
@ -1827,7 +1831,7 @@ void AP_Arming::check_forced_logging(const AP_Arming::Method method)
AP_Arming *AP_Arming::_singleton = nullptr;
/*
* Get the AP_InertialSensor singleton
* Get the AP_Arming singleton
*/
AP_Arming *AP_Arming::get_singleton()
{

5
libraries/AP_Arming/AP_Arming.h
View File

@ -5,6 +5,7 @@
#include <AP_Param/AP_Param.h>
#include "AP_Arming_config.h"
#include "AP_InertialSensor/AP_InertialSensor_config.h"
class AP_Arming {
public:
@ -163,7 +164,9 @@ protected:
bool logging_checks(bool report);
#if AP_INERTIALSENSOR_ENABLED
virtual bool ins_checks(bool report);
#endif
bool compass_checks(bool report);
@ -249,8 +252,10 @@ private:
static AP_Arming *_singleton;
#if AP_INERTIALSENSOR_ENABLED
bool ins_accels_consistent(const class AP_InertialSensor &ins);
bool ins_gyros_consistent(const class AP_InertialSensor &ins);
#endif
// check if we should keep logging after disarming
void check_forced_logging(const AP_Arming::Method method);