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GCS_MAVlink: correct compilation when fence disabled

This commit is contained in:
Peter Barker 2022-09-21 22:55:48 +10:00 committed by Peter Barker
parent e958c313a1
commit 63cb9eb07e
1 changed files with 6 additions and 0 deletions
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6
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2211,20 +2211,24 @@ void GCS::update_send()
if (rally != nullptr) {
_missionitemprotocol_rally = new MissionItemProtocol_Rally(*rally);
}
#if AP_FENCE_ENABLED
AC_Fence *fence = AP::fence();
if (fence != nullptr) {
_missionitemprotocol_fence = new MissionItemProtocol_Fence(*fence);
}
}
#endif
if (_missionitemprotocol_waypoints != nullptr) {
_missionitemprotocol_waypoints->update();
}
if (_missionitemprotocol_rally != nullptr) {
_missionitemprotocol_rally->update();
}
#if AP_FENCE_ENABLED
if (_missionitemprotocol_fence != nullptr) {
_missionitemprotocol_fence->update();
}
#endif
#endif // HAL_BUILD_AP_PERIPH
// round-robin the GCS_MAVLINK backend that gets to go first so
// one backend doesn't monopolise all of the time allowed for sending
@ -5030,11 +5034,13 @@ bool GCS_MAVLINK::try_send_mission_message(const enum ap_message id)
gcs().try_send_queued_message_for_type(MAV_MISSION_TYPE_RALLY);
ret = true;
break;
#if AP_FENCE_ENABLED
case MSG_NEXT_MISSION_REQUEST_FENCE:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
gcs().try_send_queued_message_for_type(MAV_MISSION_TYPE_FENCE);
ret = true;
break;
#endif
default:
ret = true;
break;