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GCS_MAVLink: add option to disable relay and servorelay libraries

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This commit is contained in:
Peter Barker 2023-06-06 18:05:06 +10:00 committed by Peter Barker
parent dbfa718020
commit 86d09d9096
2 changed files with 8 additions and 0 deletions
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2
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4778,12 +4778,14 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_request_message(packet); result = handle_command_request_message(packet);
break; break;
#if AP_SERVORELAYEVENTS_ENABLED
case MAV_CMD_DO_SET_SERVO: case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_REPEAT_SERVO: case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_SET_RELAY: case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_RELAY: case MAV_CMD_DO_REPEAT_RELAY:
result = handle_servorelay_message(packet); result = handle_servorelay_message(packet);
break; break;
#endif
case MAV_CMD_DO_FLIGHTTERMINATION: case MAV_CMD_DO_FLIGHTTERMINATION:
result = handle_flight_termination(packet); result = handle_flight_termination(packet);

6
libraries/GCS_MAVLink/GCS_ServoRelay.cpp
View File

@ -2,6 +2,8 @@
#include "AP_ServoRelayEvents/AP_ServoRelayEvents.h" #include "AP_ServoRelayEvents/AP_ServoRelayEvents.h"
#if AP_SERVORELAYEVENTS_ENABLED
MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &packet)
{ {
AP_ServoRelayEvents *handler = AP::servorelayevents(); AP_ServoRelayEvents *handler = AP::servorelayevents();
@ -24,6 +26,7 @@ MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &
} }
break; break;
#if AP_RELAY_ENABLED
case MAV_CMD_DO_SET_RELAY: case MAV_CMD_DO_SET_RELAY:
if (handler->do_set_relay(packet.param1, packet.param2)) { if (handler->do_set_relay(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
@ -35,6 +38,7 @@ MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} }
break; break;
#endif
default: default:
result = MAV_RESULT_UNSUPPORTED; result = MAV_RESULT_UNSUPPORTED;
@ -43,3 +47,5 @@ MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &
return result; return result;
} }
#endif