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AC_WPNav: don't link AC_Avoid on plane

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saves about 7k of flash
This commit is contained in:
Andrew Tridgell 2022-01-05 21:21:55 +11:00
parent 88f4eb6017
commit 6e5bb1eb23
1 changed files with 3 additions and 0 deletions
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3
libraries/AC_WPNav/AC_Loiter.cpp
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@ -1,5 +1,6 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include "AC_Loiter.h" #include "AC_Loiter.h"
#include <AP_Vehicle/AP_Vehicle_Type.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -274,6 +275,7 @@ void AC_Loiter::calc_desired_velocity(float nav_dt, bool avoidance_on)
desired_vel.y = desired_vel.y * gnd_speed_limit_cms / horizSpdDem; desired_vel.y = desired_vel.y * gnd_speed_limit_cms / horizSpdDem;
} }
#if !APM_BUILD_TYPE(APM_BUILD_ArduPlane)
if (avoidance_on) { if (avoidance_on) {
// Limit the velocity to prevent fence violations // Limit the velocity to prevent fence violations
// TODO: We need to also limit the _desired_accel // TODO: We need to also limit the _desired_accel
@ -284,6 +286,7 @@ void AC_Loiter::calc_desired_velocity(float nav_dt, bool avoidance_on)
desired_vel = Vector2f{avoidance_vel_3d.x, avoidance_vel_3d.y}; desired_vel = Vector2f{avoidance_vel_3d.x, avoidance_vel_3d.y};
} }
} }
#endif // !APM_BUILD_ArduPlane
// get loiters desired velocity from the position controller where it is being stored. // get loiters desired velocity from the position controller where it is being stored.
Vector2p target_pos = _pos_control.get_pos_target_cm().xy(); Vector2p target_pos = _pos_control.get_pos_target_cm().xy();