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AP_UAVCAN: conditionally compile in ADSB support

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This commit is contained in:
Andy Piper 2020-09-19 11:20:54 +01:00 committed by Andrew Tridgell
parent 93ac301b19
commit 940d708438
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_UAVCAN/AP_UAVCAN.cpp
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@ -750,6 +750,7 @@ void AP_UAVCAN::handle_button(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Butto
*/
void AP_UAVCAN::handle_traffic_report(AP_UAVCAN* ap_uavcan, uint8_t node_id, const TrafficReportCb &cb)
{
#if HAL_ADSB_ENABLED
AP_ADSB *adsb = AP::ADSB();
if (!adsb || !adsb->enabled()) {
// ADSB not enabled
@ -809,6 +810,7 @@ void AP_UAVCAN::handle_traffic_report(AP_UAVCAN* ap_uavcan, uint8_t node_id, con
vehicle.last_update_ms = AP_HAL::native_millis() - (vehicle.info.tslc * 1000);
adsb->handle_adsb_vehicle(vehicle);
#endif
}
/*