Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: remove more methods based on HAL_VISUSALODOM_ENABLED

Browse Source 
Many of these mthods are calling another method which has no body when HAL_VISUALODOM is false
This commit is contained in:
Peter Barker 2022-10-21 08:29:24 +11:00 committed by Peter Barker
parent 258d1a1e98
commit 725b7b30ae
1 changed files with 5 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3336,15 +3336,14 @@ void GCS_MAVLINK::handle_data_packet(const mavlink_message_t &msg)
#endif #endif
} }
#if HAL_VISUALODOM_ENABLED
void GCS_MAVLINK::handle_vision_position_delta(const mavlink_message_t &msg) void GCS_MAVLINK::handle_vision_position_delta(const mavlink_message_t &msg)
{ {
#if HAL_VISUALODOM_ENABLED
AP_VisualOdom *visual_odom = AP::visualodom(); AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom == nullptr) { if (visual_odom == nullptr) {
return; return;
} }
visual_odom->handle_vision_position_delta_msg(msg); visual_odom->handle_vision_position_delta_msg(msg);
#endif
} }
void GCS_MAVLINK::handle_vision_position_estimate(const mavlink_message_t &msg) void GCS_MAVLINK::handle_vision_position_estimate(const mavlink_message_t &msg)
@ -3381,7 +3380,6 @@ void GCS_MAVLINK::handle_vicon_position_estimate(const mavlink_message_t &msg)
*/ */
void GCS_MAVLINK::handle_odometry(const mavlink_message_t &msg) void GCS_MAVLINK::handle_odometry(const mavlink_message_t &msg)
{ {
#if HAL_VISUALODOM_ENABLED
AP_VisualOdom *visual_odom = AP::visualodom(); AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom == nullptr) { if (visual_odom == nullptr) {
return; return;
@ -3410,7 +3408,6 @@ void GCS_MAVLINK::handle_odometry(const mavlink_message_t &msg)
const Vector3f vel{m.vx, m.vy, m.vz}; const Vector3f vel{m.vx, m.vy, m.vz};
visual_odom->handle_vision_speed_estimate(m.time_usec, timestamp_ms, vel, m.reset_counter); visual_odom->handle_vision_speed_estimate(m.time_usec, timestamp_ms, vel, m.reset_counter);
#endif
} }
// there are several messages which all have identical fields in them. // there are several messages which all have identical fields in them.
@ -3427,7 +3424,6 @@ void GCS_MAVLINK::handle_common_vision_position_estimate_data(const uint64_t use
const uint8_t reset_counter, const uint8_t reset_counter,
const uint16_t payload_size) const uint16_t payload_size)
{ {
#if HAL_VISUALODOM_ENABLED
float posErr = 0; float posErr = 0;
float angErr = 0; float angErr = 0;
// correct offboard timestamp to be in local ms since boot // correct offboard timestamp to be in local ms since boot
@ -3444,12 +3440,10 @@ void GCS_MAVLINK::handle_common_vision_position_estimate_data(const uint64_t use
} }
visual_odom->handle_vision_position_estimate(usec, timestamp_ms, x, y, z, roll, pitch, yaw, posErr, angErr, reset_counter); visual_odom->handle_vision_position_estimate(usec, timestamp_ms, x, y, z, roll, pitch, yaw, posErr, angErr, reset_counter);
#endif
} }
void GCS_MAVLINK::handle_att_pos_mocap(const mavlink_message_t &msg) void GCS_MAVLINK::handle_att_pos_mocap(const mavlink_message_t &msg)
{ {
#if HAL_VISUALODOM_ENABLED
mavlink_att_pos_mocap_t m; mavlink_att_pos_mocap_t m;
mavlink_msg_att_pos_mocap_decode(&msg, &m); mavlink_msg_att_pos_mocap_decode(&msg, &m);
@ -3462,12 +3456,10 @@ void GCS_MAVLINK::handle_att_pos_mocap(const mavlink_message_t &msg)
} }
// note: att_pos_mocap does not include reset counter // note: att_pos_mocap does not include reset counter
visual_odom->handle_vision_position_estimate(m.time_usec, timestamp_ms, m.x, m.y, m.z, m.q, 0, 0, 0); visual_odom->handle_vision_position_estimate(m.time_usec, timestamp_ms, m.x, m.y, m.z, m.q, 0, 0, 0);
#endif
} }
void GCS_MAVLINK::handle_vision_speed_estimate(const mavlink_message_t &msg) void GCS_MAVLINK::handle_vision_speed_estimate(const mavlink_message_t &msg)
{ {
#if HAL_VISUALODOM_ENABLED
AP_VisualOdom *visual_odom = AP::visualodom(); AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom == nullptr) { if (visual_odom == nullptr) {
return; return;
@ -3477,8 +3469,8 @@ void GCS_MAVLINK::handle_vision_speed_estimate(const mavlink_message_t &msg)
const Vector3f vel = {m.x, m.y, m.z}; const Vector3f vel = {m.x, m.y, m.z};
uint32_t timestamp_ms = correct_offboard_timestamp_usec_to_ms(m.usec, PAYLOAD_SIZE(chan, VISION_SPEED_ESTIMATE)); uint32_t timestamp_ms = correct_offboard_timestamp_usec_to_ms(m.usec, PAYLOAD_SIZE(chan, VISION_SPEED_ESTIMATE));
visual_odom->handle_vision_speed_estimate(m.usec, timestamp_ms, vel, m.reset_counter); visual_odom->handle_vision_speed_estimate(m.usec, timestamp_ms, vel, m.reset_counter);
#endif
} }
#endif // HAL_VISUALODOM_ENABLED
void GCS_MAVLINK::handle_command_ack(const mavlink_message_t &msg) void GCS_MAVLINK::handle_command_ack(const mavlink_message_t &msg)
{ {
@ -3822,6 +3814,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
handle_data_packet(msg); handle_data_packet(msg);
break; break;
#if HAL_VISUALODOM_ENABLED
case MAVLINK_MSG_ID_VISION_POSITION_DELTA: case MAVLINK_MSG_ID_VISION_POSITION_DELTA:
handle_vision_position_delta(msg); handle_vision_position_delta(msg);
break; break;
@ -3841,7 +3834,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
case MAVLINK_MSG_ID_ODOMETRY: case MAVLINK_MSG_ID_ODOMETRY:
handle_odometry(msg); handle_odometry(msg);
break; break;
case MAVLINK_MSG_ID_ATT_POS_MOCAP: case MAVLINK_MSG_ID_ATT_POS_MOCAP:
handle_att_pos_mocap(msg); handle_att_pos_mocap(msg);
break; break;
@ -3849,6 +3842,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
case MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE: case MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE:
handle_vision_speed_estimate(msg); handle_vision_speed_estimate(msg);
break; break;
#endif // HAL_VISUALODOM_ENABLED
case MAVLINK_MSG_ID_SYSTEM_TIME: case MAVLINK_MSG_ID_SYSTEM_TIME:
handle_system_time_message(msg); handle_system_time_message(msg);