From 64d38971265f9e5a064b99f5b0133fd4882f54de Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 7 Mar 2024 18:52:58 +1100 Subject: [PATCH] AP_Mount: correct compilation when GCS not available --- libraries/AP_Mount/AP_Mount_Viewpro.cpp | 14 +++++++------- libraries/AP_Mount/AP_Mount_config.h | 2 +- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/libraries/AP_Mount/AP_Mount_Viewpro.cpp b/libraries/AP_Mount/AP_Mount_Viewpro.cpp index 03dc195042..180af5b4be 100644 --- a/libraries/AP_Mount/AP_Mount_Viewpro.cpp +++ b/libraries/AP_Mount/AP_Mount_Viewpro.cpp @@ -313,14 +313,14 @@ void AP_Mount_Viewpro::process_packet() const uint8_t patch_ver = atoi((const char*)fw_patch_str) & 0xFF; _firmware_version = (patch_ver << 16) | (minor_ver << 8) | major_ver; _got_firmware_version = true; - gcs().send_text(MAV_SEVERITY_INFO, "%s fw:%u.%u.%u", send_text_prefix, (unsigned)major_ver, (unsigned)minor_ver, (unsigned)patch_ver); + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s fw:%u.%u.%u", send_text_prefix, (unsigned)major_ver, (unsigned)minor_ver, (unsigned)patch_ver); break; } case CommConfigCmd::QUERY_MODEL: // gimbal model, length is 10 bytes strncpy((char *)_model_name, (const char *)&_msg_buff[_msg_buff_data_start+1], sizeof(_model_name)-1); _got_model_name = true; - gcs().send_text(MAV_SEVERITY_INFO, "%s %s", send_text_prefix, (const char*)_model_name); + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s %s", send_text_prefix, (const char*)_model_name); break; default: // unsupported control command @@ -340,16 +340,16 @@ void AP_Mount_Viewpro::process_packet() _last_tracking_status = tracking_status; switch (tracking_status) { case TrackingStatus::STOPPED: - gcs().send_text(MAV_SEVERITY_INFO, "%s tracking OFF", send_text_prefix); + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s tracking OFF", send_text_prefix); break; case TrackingStatus::SEARCHING: - gcs().send_text(MAV_SEVERITY_INFO, "%s tracking searching", send_text_prefix); + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s tracking searching", send_text_prefix); break; case TrackingStatus::TRACKING: - gcs().send_text(MAV_SEVERITY_INFO, "%s tracking ON", send_text_prefix); + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s tracking ON", send_text_prefix); break; case TrackingStatus::LOST: - gcs().send_text(MAV_SEVERITY_INFO, "%s tracking Lost", send_text_prefix); + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s tracking Lost", send_text_prefix); break; } } @@ -368,7 +368,7 @@ void AP_Mount_Viewpro::process_packet() const bool recording = (recording_status == RecordingStatus::RECORDING); if (recording != _recording) { _recording = recording; - gcs().send_text(MAV_SEVERITY_INFO, "%s recording %s", send_text_prefix, _recording ? "ON" : "OFF"); + GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s recording %s", send_text_prefix, _recording ? "ON" : "OFF"); } // get optical zoom times diff --git a/libraries/AP_Mount/AP_Mount_config.h b/libraries/AP_Mount/AP_Mount_config.h index 9159653dcc..a7b16ed63f 100644 --- a/libraries/AP_Mount/AP_Mount_config.h +++ b/libraries/AP_Mount/AP_Mount_config.h @@ -14,7 +14,7 @@ #endif #ifndef HAL_MOUNT_GREMSY_ENABLED -#define HAL_MOUNT_GREMSY_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED && BOARD_FLASH_SIZE > 1024 +#define HAL_MOUNT_GREMSY_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED && BOARD_FLASH_SIZE > 1024 #endif #ifndef HAL_MOUNT_SCRIPTING_ENABLED