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AP_Frsky_Telem: make AP_RANGEFINDER_ENABLED remove more code

This commit is contained in:
Peter Barker 2024-06-26 12:05:29 +10:00 committed by Andrew Tridgell
parent e88d76d72d
commit 6e5198a50c
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
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@ -683,7 +683,9 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_velandyaw(void)
*/
uint32_t AP_Frsky_SPort_Passthrough::calc_attiandrng(void)
{
#if AP_RANGEFINDER_ENABLED
const RangeFinder *_rng = RangeFinder::get_singleton();
#endif
float roll;
float pitch;
@ -693,7 +695,11 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_attiandrng(void)
// pitch from [-9000;9000] centidegrees to unsigned .2 degree increments [0;900] (just in case, limit to 1023 (0x3FF) since the value is stored on 10 bits)
attiandrng |= ((uint16_t)roundf((pitch * RAD_TO_DEG * 100 + 9000) * 0.05f) & ATTIANDRNG_PITCH_LIMIT)<<ATTIANDRNG_PITCH_OFFSET;
// rangefinder measurement in cm
#if AP_RANGEFINDER_ENABLED
attiandrng |= prep_number(_rng ? _rng->distance_cm_orient(ROTATION_PITCH_270) : 0, 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
#else
attiandrng |= prep_number(0, 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
#endif
return attiandrng;
}