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GCS_MAVLink: add and use AP_RPM_ENABLED

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... and backend-specific equivalents
This commit is contained in:
Peter Barker 2022-07-15 21:53:42 +10:00 committed by Andrew Tridgell
parent 61a8d6311b
commit 81adafa97c
1 changed files with 6 additions and 0 deletions
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6
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -957,7 +957,9 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_LOCAL_POSITION_NED, MSG_LOCAL_POSITION},
{ MAVLINK_MSG_ID_PID_TUNING, MSG_PID_TUNING},
{ MAVLINK_MSG_ID_VIBRATION, MSG_VIBRATION},
#if AP_RPM_ENABLED
{ MAVLINK_MSG_ID_RPM, MSG_RPM},
#endif
{ MAVLINK_MSG_ID_MISSION_ITEM_REACHED, MSG_MISSION_ITEM_REACHED},
{ MAVLINK_MSG_ID_ATTITUDE_TARGET, MSG_ATTITUDE_TARGET},
{ MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, MSG_POSITION_TARGET_GLOBAL_INT},
@ -5035,6 +5037,7 @@ void GCS_MAVLINK::send_hwstatus()
0);
}
#if AP_RPM_ENABLED
void GCS_MAVLINK::send_rpm() const
{
AP_RPM *rpm = AP::rpm();
@ -5056,6 +5059,7 @@ void GCS_MAVLINK::send_rpm() const
rpm1,
rpm2);
}
#endif // AP_RPM_ENABLED
void GCS_MAVLINK::send_sys_status()
{
@ -5408,10 +5412,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_gps_global_origin();
break;
#if AP_RPM_ENABLED
case MSG_RPM:
CHECK_PAYLOAD_SIZE(RPM);
send_rpm();
break;
#endif
case MSG_CURRENT_WAYPOINT:
case MSG_MISSION_ITEM_REACHED: