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AP_HAL_SITL: do not compile terrain class when terrain is not disabled via compile flag

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This commit is contained in:
Tom Pittenger 2016-06-03 11:07:36 -07:00
parent 6fa97c2289
commit 5df2e57209
2 changed files with 6 additions and 0 deletions
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4
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -80,7 +80,9 @@ void SITL_State::_sitl_setup(const char *home_str)
_barometer = (AP_Baro *)AP_Param::find_object("GND_");
_ins = (AP_InertialSensor *)AP_Param::find_object("INS_");
_compass = (Compass *)AP_Param::find_object("COMPASS_");
#if AP_TERRAIN_AVAILABLE
_terrain = (AP_Terrain *)AP_Param::find_object("TERRAIN_");
#endif
_optical_flow = (OpticalFlow *)AP_Param::find_object("FLOW");
if (_sitl != NULL) {
@ -486,6 +488,7 @@ float SITL_State::height_agl(void)
home_alt = _sitl->state.altitude;
}
#if AP_TERRAIN_AVAILABLE
if (_terrain &&
_sitl->terrain_enable) {
// get height above terrain from AP_Terrain. This assumes
@ -499,6 +502,7 @@ float SITL_State::height_agl(void)
return _sitl->state.altitude - terrain_height_amsl;
}
}
#endif
// fall back to flat earth model
return _sitl->state.altitude - home_alt;

2
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -151,7 +151,9 @@ private:
Scheduler *_scheduler;
Compass *_compass;
OpticalFlow *_optical_flow;
#if AP_TERRAIN_AVAILABLE
AP_Terrain *_terrain;
#endif
SocketAPM _sitl_rc_in{true};
SITL::SITL *_sitl;