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AP_Frsky_Telem: add and use AP_RPM_ENABLED 

... and backend-specific equivalents
This commit is contained in:
Peter Barker 2022-07-15 21:53:41 +10:00 committed by Andrew Tridgell
parent 4fc4e7c532
commit 7eedc88646
3 changed files with 12 additions and 0 deletions
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4
libraries/AP_Frsky_Telem/AP_Frsky_Backend.cpp
View File

@ -148,6 +148,7 @@ void AP_Frsky_Backend::calc_gps_position(void)
*/
bool AP_Frsky_Backend::calc_rpm(const uint8_t instance, int32_t &value) const
{
#if AP_RPM_ENABLED
const AP_RPM* rpm = AP::rpm();
if (rpm == nullptr) {
return false;
@ -159,4 +160,7 @@ bool AP_Frsky_Backend::calc_rpm(const uint8_t instance, int32_t &value) const
}
value = static_cast<int32_t>(roundf(rpm_value));
return true;
#else
return false;
#endif
}

2
libraries/AP_Frsky_Telem/AP_Frsky_SPort.cpp
View File

@ -113,6 +113,7 @@ void AP_Frsky_SPort::send(void)
}
break;
case SENSOR_ID_RPM: // Sensor ID 4
#if AP_RPM_ENABLED
{
const AP_RPM* rpm = AP::rpm();
if (rpm == nullptr) {
@ -132,6 +133,7 @@ void AP_Frsky_SPort::send(void)
_SPort.rpm_call = 0;
}
}
#endif // AP_RPM_ENABLED
break;
case SENSOR_ID_SP2UR: // Sensor ID 6
switch (_SPort.various_call) {

6
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
View File

@ -222,11 +222,13 @@ bool AP_Frsky_SPort_Passthrough::is_packet_ready(uint8_t idx, bool queue_empty)
case RPM:
{
packet_ready = false;
#if AP_RPM_ENABLED
const AP_RPM *rpm = AP::rpm();
if (rpm == nullptr) {
break;
}
packet_ready = rpm->num_sensors() > 0;
#endif
}
break;
case TERRAIN:
@ -697,6 +699,7 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_attiandrng(void)
*/
uint32_t AP_Frsky_SPort_Passthrough::calc_rpm(void)
{
#if AP_RPM_ENABLED
const AP_RPM *ap_rpm = AP::rpm();
if (ap_rpm == nullptr) {
return 0;
@ -713,6 +716,9 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_rpm(void)
value |= (int16_t)roundf(rpm * 0.1) << 16;
}
return value;
#else
return 0;
#endif
}
/*