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AP_LTM_Telem: correct compilation when AP_AHRS_ENABLED is off

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e.g. CubeOrange-periph-heavy
This commit is contained in:
Peter Barker 2024-01-11 09:16:57 +11:00 committed by Peter Barker
parent 1051da5cb4
commit 7b5a4d9f2c
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_LTM_Telem/AP_LTM_Telem.cpp
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@ -70,6 +70,7 @@ void AP_LTM_Telem::send_Gframe(void)
int32_t lon = 0; // longtitude int32_t lon = 0; // longtitude
uint8_t gndspeed = 0; // gps ground speed (m/s) uint8_t gndspeed = 0; // gps ground speed (m/s)
int32_t alt = 0; int32_t alt = 0;
#if AP_AHRS_ENABLED
{ {
AP_AHRS &ahrs = AP::ahrs(); AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore()); WITH_SEMAPHORE(ahrs.get_semaphore());
@ -83,6 +84,7 @@ void AP_LTM_Telem::send_Gframe(void)
gndspeed = (uint8_t) roundf(gps.ground_speed()); gndspeed = (uint8_t) roundf(gps.ground_speed());
} }
} }
#endif
uint8_t lt_buff[LTM_GFRAME_SIZE]; uint8_t lt_buff[LTM_GFRAME_SIZE];
// protocol: START(2 bytes)FRAMEID(1byte)LAT(cm,4 bytes)LON(cm,4bytes)SPEED(m/s,1bytes)ALT(cm,4bytes)SATS(6bits)FIX(2bits)CRC(xor,1byte) // protocol: START(2 bytes)FRAMEID(1byte)LAT(cm,4 bytes)LON(cm,4bytes)SPEED(m/s,1bytes)ALT(cm,4bytes)SATS(6bits)FIX(2bits)CRC(xor,1byte)
@ -168,6 +170,7 @@ void AP_LTM_Telem::send_Aframe(void)
int16_t pitch; int16_t pitch;
int16_t roll; int16_t roll;
int16_t heading; int16_t heading;
#if AP_AHRS_ENABLED
{ {
AP_AHRS &ahrs = AP::ahrs(); AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore()); WITH_SEMAPHORE(ahrs.get_semaphore());
@ -175,6 +178,11 @@ void AP_LTM_Telem::send_Aframe(void)
roll = roundf(ahrs.roll_sensor * 0.01); // attitude roll in degrees roll = roundf(ahrs.roll_sensor * 0.01); // attitude roll in degrees
heading = roundf(ahrs.yaw_sensor * 0.01); // heading in degrees heading = roundf(ahrs.yaw_sensor * 0.01); // heading in degrees
} }
#else
pitch = 0;
roll = 0;
heading = 0;
#endif
uint8_t lt_buff[LTM_AFRAME_SIZE]; uint8_t lt_buff[LTM_AFRAME_SIZE];
// A Frame: $T(2 bytes)A(1byte)PITCH(2 bytes)ROLL(2bytes)HEADING(2bytes)CRC(xor,1byte) // A Frame: $T(2 bytes)A(1byte)PITCH(2 bytes)ROLL(2bytes)HEADING(2bytes)CRC(xor,1byte)