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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; return true;
} }
#if AP_INERTIALSENSOR_ENABLED
bool AP_Arming::ins_accels_consistent(const AP_InertialSensor &ins) bool AP_Arming::ins_accels_consistent(const AP_InertialSensor &ins)
{ {
const uint8_t accel_count = ins.get_accel_count(); const uint8_t accel_count = ins.get_accel_count();
@ -488,6 +489,7 @@ bool AP_Arming::ins_checks(bool report)
return true; return true;
} }
#endif // AP_INERTIALSENSOR_ENABLED
bool AP_Arming::compass_checks(bool report) bool AP_Arming::compass_checks(bool report)
{ {
@ -1495,7 +1497,9 @@ bool AP_Arming::pre_arm_checks(bool report)
& heater_min_temperature_checks(report) & heater_min_temperature_checks(report)
#endif #endif
& barometer_checks(report) & barometer_checks(report)
#if AP_INERTIALSENSOR_ENABLED
& ins_checks(report) & ins_checks(report)
#endif
& compass_checks(report) & compass_checks(report)
& gps_checks(report) & gps_checks(report)
& battery_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; AP_Arming *AP_Arming::_singleton = nullptr;
/* /*
* Get the AP_InertialSensor singleton * Get the AP_Arming singleton
*/ */
AP_Arming *AP_Arming::get_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_Param/AP_Param.h>
#include "AP_Arming_config.h" #include "AP_Arming_config.h"
#include "AP_InertialSensor/AP_InertialSensor_config.h"
class AP_Arming { class AP_Arming {
public: public:
@ -163,7 +164,9 @@ protected:
bool logging_checks(bool report); bool logging_checks(bool report);
#if AP_INERTIALSENSOR_ENABLED
virtual bool ins_checks(bool report); virtual bool ins_checks(bool report);
#endif
bool compass_checks(bool report); bool compass_checks(bool report);
@ -249,8 +252,10 @@ private:
static AP_Arming *_singleton; static AP_Arming *_singleton;
#if AP_INERTIALSENSOR_ENABLED
bool ins_accels_consistent(const class AP_InertialSensor &ins); bool ins_accels_consistent(const class AP_InertialSensor &ins);
bool ins_gyros_consistent(const class AP_InertialSensor &ins); bool ins_gyros_consistent(const class AP_InertialSensor &ins);
#endif
// check if we should keep logging after disarming // check if we should keep logging after disarming
void check_forced_logging(const AP_Arming::Method method); void check_forced_logging(const AP_Arming::Method method);