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AP_ExternalAHRS: correct compilation when baro and compass externalahrs disabled

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Peter Barker 2024-01-12 17:29:46 +11:00 committed by Peter Barker
parent 79eeb7b461
commit 7898d6f107
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
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@ -466,13 +466,17 @@ bool AP_ExternalAHRS_InertialLabs::check_uart()
last_gps_ms = now_ms; last_gps_ms = now_ms;
} }
} }
#if AP_BARO_EXTERNALAHRS_ENABLED
if (GOT_MSG(BARO_DATA) && if (GOT_MSG(BARO_DATA) &&
GOT_MSG(TEMPERATURE)) { GOT_MSG(TEMPERATURE)) {
AP::baro().handle_external(baro_data); AP::baro().handle_external(baro_data);
} }
#endif
#if AP_COMPASS_EXTERNALAHRS_ENABLED
if (GOT_MSG(MAG_DATA)) { if (GOT_MSG(MAG_DATA)) {
AP::compass().handle_external(mag_data); AP::compass().handle_external(mag_data);
} }
#endif
#if AP_AIRSPEED_EXTERNAL_ENABLED && (APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane)) #if AP_AIRSPEED_EXTERNAL_ENABLED && (APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane))
// only on plane and copter as others do not link AP_Airspeed // only on plane and copter as others do not link AP_Airspeed
if (GOT_MSG(DIFFERENTIAL_PRESSURE) && if (GOT_MSG(DIFFERENTIAL_PRESSURE) &&