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GCS_MAVLink: rename HAL_INS_ENABLED to AP_INERTIALSENSOR_ENABLED

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This commit is contained in:
Peter Barker 2022-12-23 12:27:14 +11:00 committed by Andrew Tridgell
parent ee98d75173
commit 959b3049c0
1 changed files with 6 additions and 6 deletions
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12
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1829,7 +1829,7 @@ void GCS_MAVLINK::send_rc_channels_raw() const
void GCS_MAVLINK::send_raw_imu() void GCS_MAVLINK::send_raw_imu()
{ {
#if HAL_INS_ENABLED #if AP_INERTIALSENSOR_ENABLED
const AP_InertialSensor &ins = AP::ins(); const AP_InertialSensor &ins = AP::ins();
const Compass &compass = AP::compass(); const Compass &compass = AP::compass();
@ -1861,7 +1861,7 @@ void GCS_MAVLINK::send_raw_imu()
void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_channel_t chan, uint32_t time_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag, int16_t temperature)) void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_channel_t chan, uint32_t time_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag, int16_t temperature))
{ {
#if HAL_INS_ENABLED #if AP_INERTIALSENSOR_ENABLED
const AP_InertialSensor &ins = AP::ins(); const AP_InertialSensor &ins = AP::ins();
const Compass &compass = AP::compass(); const Compass &compass = AP::compass();
int16_t _temperature = 0; int16_t _temperature = 0;
@ -2555,7 +2555,7 @@ void GCS_MAVLINK::send_local_position() const
*/ */
void GCS_MAVLINK::send_vibration() const void GCS_MAVLINK::send_vibration() const
{ {
#if HAL_INS_ENABLED #if AP_INERTIALSENSOR_ENABLED
const AP_InertialSensor &ins = AP::ins(); const AP_InertialSensor &ins = AP::ins();
Vector3f vibration = ins.get_vibration_levels(); Vector3f vibration = ins.get_vibration_levels();
@ -4039,7 +4039,7 @@ void GCS_MAVLINK::send_banner()
send_text(MAV_SEVERITY_INFO, "%s", banner_msg); send_text(MAV_SEVERITY_INFO, "%s", banner_msg);
} }
#if HAL_INS_ENABLED #if AP_INERTIALSENSOR_ENABLED
// output any fast sampling status messages // output any fast sampling status messages
for (uint8_t i = 0; i < INS_MAX_BACKENDS; i++) { for (uint8_t i = 0; i < INS_MAX_BACKENDS; i++) {
if (AP::ins().get_output_banner(i, banner_msg, sizeof(banner_msg))) { if (AP::ins().get_output_banner(i, banner_msg, sizeof(banner_msg))) {
@ -4115,7 +4115,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(const mavlin
bool GCS_MAVLINK::calibrate_gyros() bool GCS_MAVLINK::calibrate_gyros()
{ {
#if HAL_INS_ENABLED #if AP_INERTIALSENSOR_ENABLED
AP::ins().init_gyro(); AP::ins().init_gyro();
if (!AP::ins().gyro_calibrated_ok_all()) { if (!AP::ins().gyro_calibrated_ok_all()) {
return false; return false;
@ -4175,7 +4175,7 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_comm
} }
#endif #endif
#if HAL_INS_ENABLED #if AP_INERTIALSENSOR_ENABLED
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
if (is_equal(packet.param5,2.0f)) { if (is_equal(packet.param5,2.0f)) {
// reject any time we've done a calibration recently // reject any time we've done a calibration recently