Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-11 17:13:56 -03:00
Code Issues Packages Projects Releases Wiki Activity

AP_Frsky_Telem: add and use AP_RPM_ENABLED

Browse Source 
... 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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

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 bool AP_Frsky_Backend::calc_rpm(const uint8_t instance, int32_t &value) const
{ {
#if AP_RPM_ENABLED
const AP_RPM* rpm = AP::rpm(); const AP_RPM* rpm = AP::rpm();
if (rpm == nullptr) { if (rpm == nullptr) {
return false; 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)); value = static_cast<int32_t>(roundf(rpm_value));
return true; 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; break;
case SENSOR_ID_RPM: // Sensor ID 4 case SENSOR_ID_RPM: // Sensor ID 4
#if AP_RPM_ENABLED
{ {
const AP_RPM* rpm = AP::rpm(); const AP_RPM* rpm = AP::rpm();
if (rpm == nullptr) { if (rpm == nullptr) {
@ -132,6 +133,7 @@ void AP_Frsky_SPort::send(void)
_SPort.rpm_call = 0; _SPort.rpm_call = 0;
} }
} }
#endif // AP_RPM_ENABLED
break; break;
case SENSOR_ID_SP2UR: // Sensor ID 6 case SENSOR_ID_SP2UR: // Sensor ID 6
switch (_SPort.various_call) { 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: case RPM:
{ {
packet_ready = false; packet_ready = false;
#if AP_RPM_ENABLED
const AP_RPM *rpm = AP::rpm(); const AP_RPM *rpm = AP::rpm();
if (rpm == nullptr) { if (rpm == nullptr) {
break; break;
} }
packet_ready = rpm->num_sensors() > 0; packet_ready = rpm->num_sensors() > 0;
#endif
} }
break; break;
case TERRAIN: case TERRAIN:
@ -697,6 +699,7 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_attiandrng(void)
*/ */
uint32_t AP_Frsky_SPort_Passthrough::calc_rpm(void) uint32_t AP_Frsky_SPort_Passthrough::calc_rpm(void)
{ {
#if AP_RPM_ENABLED
const AP_RPM *ap_rpm = AP::rpm(); const AP_RPM *ap_rpm = AP::rpm();
if (ap_rpm == nullptr) { if (ap_rpm == nullptr) {
return 0; return 0;
@ -713,6 +716,9 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_rpm(void)
value |= (int16_t)roundf(rpm * 0.1) << 16; value |= (int16_t)roundf(rpm * 0.1) << 16;
} }
return value; return value;
#else
return 0;
#endif
} }
/* /*