From 77687a963948f19242cc35f49d6bb055d589b2b5 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 6 Nov 2020 10:35:00 +1100 Subject: [PATCH] AP_UAVCAN: fixed build with no GCS Co-authored-by: Peter Barker --- libraries/AP_UAVCAN/AP_UAVCAN.cpp | 2 ++ libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp index a211731587..e1b6b2b0cc 100644 --- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp +++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp @@ -332,6 +332,7 @@ void AP_UAVCAN::init(uint8_t driver_index, bool enable_filters) // send ESC telemetry messages over MAVLink void AP_UAVCAN::send_esc_telemetry_mavlink(uint8_t mav_chan) { +#ifndef HAL_NO_GCS static const uint8_t MAV_ESC_GROUPS = 3; static const uint8_t MAV_ESC_PER_GROUP = 4; @@ -398,6 +399,7 @@ void AP_UAVCAN::send_esc_telemetry_mavlink(uint8_t mav_chan) break; } } +#endif // HAL_NO_GCS } void AP_UAVCAN::loop(void) diff --git a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp index 549471faa4..c2719838b1 100644 --- a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp +++ b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp @@ -638,7 +638,7 @@ void AP_UAVCAN_DNA_Server::handleAllocation(uint8_t driver_index, uint8_t node_i msg.node_id = resp_node_id; } } else { - gcs().send_text(MAV_SEVERITY_ERROR, "UC Node Alloc Failed!"); + GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UC Node Alloc Failed!"); } } else { msg.node_id = resp_node_id;