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AP_Terrain: fixed build for periph

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needed for SITL periph rangefinder
This commit is contained in:
Andrew Tridgell 2023-08-18 06:17:37 +10:00 committed by Peter Barker
parent 791d0acefe
commit 9706a207b1
2 changed files with 7 additions and 1 deletions
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2
libraries/AP_Terrain/AP_Terrain.cpp
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@ -487,7 +487,7 @@ bool AP_Terrain::allocate(void)
}
cache = (struct grid_cache *)calloc(TERRAIN_GRID_BLOCK_CACHE_SIZE, sizeof(cache[0]));
if (cache == nullptr) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain: Allocation failed");
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Terrain: Allocation failed");
memory_alloc_failed = true;
return false;
}

6
libraries/AP_Terrain/TerrainGCS.cpp
View File

@ -37,6 +37,9 @@ extern const AP_HAL::HAL& hal;
*/
bool AP_Terrain::request_missing(mavlink_channel_t chan, struct grid_cache &gcache)
{
#if !HAL_GCS_ENABLED
return false;
#else
struct grid_block &grid = gcache.grid;
if (options.get() & uint16_t(Options::DisableDownload)) {
@ -72,6 +75,7 @@ bool AP_Terrain::request_missing(mavlink_channel_t chan, struct grid_cache &gcac
last_request_time_ms[chan] = AP_HAL::millis();
return true;
#endif
}
/*
@ -211,6 +215,7 @@ void AP_Terrain::handle_data(mavlink_channel_t chan, const mavlink_message_t &ms
*/
void AP_Terrain::send_terrain_report(mavlink_channel_t chan, const Location &loc, bool extrapolate)
{
#if HAL_GCS_ENABLED
float terrain_height = 0;
uint16_t spacing = 0;
if (height_amsl(loc, terrain_height)) {
@ -232,6 +237,7 @@ void AP_Terrain::send_terrain_report(mavlink_channel_t chan, const Location &loc
terrain_height, current_height,
pending, loaded);
}
#endif
}
/*