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GCS_MAVLink: correct compilation when compass not enabled

This commit is contained in:
Peter Barker 2023-12-12 16:39:09 +11:00 committed by Peter Barker
parent fc9e6de99a
commit 71a64d5046
1 changed files with 11 additions and 5 deletions
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16
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -22,6 +22,7 @@
#include "GCS.h"
#include <AC_Fence/AC_Fence.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_ADSB/AP_ADSB.h>
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
#include <AP_AHRS/AP_AHRS.h>
@ -38,6 +39,7 @@
#include <AP_Gripper/AP_Gripper.h>
#include <AC_Sprayer/AC_Sprayer.h>
#include <AP_BLHeli/AP_BLHeli.h>
#include <AP_Relay/AP_Relay.h>
#include <AP_RSSI/AP_RSSI.h>
#include <AP_RTC/AP_RTC.h>
#include <AP_Scheduler/AP_Scheduler.h>
@ -68,6 +70,8 @@
#include "MissionItemProtocol_Rally.h"
#include "MissionItemProtocol_Fence.h"
#include <AP_Notify/AP_Notify.h>
#include <stdio.h>
#if HAL_RCINPUT_WITH_AP_RADIO
@ -2031,16 +2035,16 @@ void GCS_MAVLINK::send_raw_imu()
{
#if AP_INERTIALSENSOR_ENABLED
const AP_InertialSensor &ins = AP::ins();
const Compass &compass = AP::compass();
const Vector3f &accel = ins.get_accel(0);
const Vector3f &gyro = ins.get_gyro(0);
Vector3f mag;
#if AP_COMPASS_ENABLED
const Compass &compass = AP::compass();
if (compass.get_count() >= 1) {
mag = compass.get_field(0);
} else {
mag.zero();
}
#endif
mavlink_msg_raw_imu_send(
chan,
@ -2063,7 +2067,6 @@ void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_chan
{
#if AP_INERTIALSENSOR_ENABLED
const AP_InertialSensor &ins = AP::ins();
const Compass &compass = AP::compass();
int16_t _temperature = 0;
bool have_data = false;
@ -2078,11 +2081,14 @@ void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_chan
gyro = ins.get_gyro(instance);
have_data = true;
}
Vector3f mag{};
Vector3f mag;
#if AP_COMPASS_ENABLED
const Compass &compass = AP::compass();
if (compass.get_count() > instance) {
mag = compass.get_field(instance);
have_data = true;
}
#endif
if (!have_data) {
return;
}