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Plane: correct compilation when AP_Rally disabled

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This commit is contained in:
Peter Barker 2023-04-07 18:25:34 +10:00 committed by Tom Pittenger
parent 02932275ca
commit 98e2782851
5 changed files with 23 additions and 5 deletions
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2
ArduPlane/Parameters.cpp
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@ -943,9 +943,11 @@ const AP_Param::Info Plane::var_info[] = {
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
GOBJECT(mission, "MIS_", AP_Mission),
#if HAL_RALLY_ENABLED
// @Group: RALLY_
// @Path: ../libraries/AP_Rally/AP_Rally.cpp
GOBJECT(rally, "RALLY_", AP_Rally),
#endif
#if HAL_NAVEKF2_AVAILABLE
// @Group: EK2_

6
ArduPlane/Plane.h
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@ -244,8 +244,14 @@ private:
AP_OpticalFlow optflow;
#endif
#if HAL_RALLY_ENABLED
// Rally Ponints
AP_Rally rally;
#endif
// returns a Location for a rally point or home; if
// HAL_RALLY_ENABLED is false, just home.
Location calc_best_rally_or_home_location(const Location &current_loc, float rtl_home_alt_amsl_cm) const;
#if OSD_ENABLED || OSD_PARAM_ENABLED
AP_OSD osd;

13
ArduPlane/commands_logic.cpp
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@ -344,7 +344,7 @@ void Plane::do_RTL(int32_t rtl_altitude_AMSL_cm)
auto_state.next_wp_crosstrack = false;
auto_state.crosstrack = false;
prev_WP_loc = current_loc;
next_WP_loc = rally.calc_best_rally_or_home_location(current_loc, rtl_altitude_AMSL_cm);
next_WP_loc = calc_best_rally_or_home_location(current_loc, rtl_altitude_AMSL_cm);
setup_terrain_target_alt(next_WP_loc);
set_target_altitude_location(next_WP_loc);
@ -360,6 +360,17 @@ void Plane::do_RTL(int32_t rtl_altitude_AMSL_cm)
logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
}
Location Plane::calc_best_rally_or_home_location(const Location &_current_loc, float rtl_home_alt_amsl_cm) const
{
#if HAL_RALLY_ENABLED
return plane.rally.calc_best_rally_or_home_location(_current_loc, rtl_home_alt_amsl_cm);
#else
Location destination = plane.home;
destination.set_alt_cm(rtl_home_alt_amsl_cm, Location::AltFrame::ABSOLUTE);
return destination;
#endif
}
/*
start a NAV_TAKEOFF command
*/

2
ArduPlane/fence.cpp
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@ -75,7 +75,7 @@ void Plane::fence_check()
Location loc;
if (fence.get_return_rally() != 0 || fence_act == AC_FENCE_ACTION_RTL_AND_LAND) {
loc = rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude_cm());
loc = calc_best_rally_or_home_location(current_loc, get_RTL_altitude_cm());
} else {
//return to fence return point, not a rally point
if (fence.get_return_altitude() > 0) {

5
ArduPlane/mode_qrtl.cpp
View File

@ -17,8 +17,7 @@ bool ModeQRTL::_enter()
int32_t RTL_alt_abs_cm = plane.home.alt + quadplane.qrtl_alt*100UL;
if (quadplane.motors->get_desired_spool_state() == AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED) {
// VTOL motors are active, either in VTOL flight or assisted flight
Location destination = plane.rally.calc_best_rally_or_home_location(plane.current_loc, RTL_alt_abs_cm);
Location destination = plane.calc_best_rally_or_home_location(plane.current_loc, RTL_alt_abs_cm);
const float dist = plane.current_loc.get_distance(destination);
const float radius = get_VTOL_return_radius();
@ -122,7 +121,7 @@ void ModeQRTL::run()
plane.prev_WP_loc = plane.current_loc;
int32_t RTL_alt_abs_cm = plane.home.alt + quadplane.qrtl_alt*100UL;
Location destination = plane.rally.calc_best_rally_or_home_location(plane.current_loc, RTL_alt_abs_cm);
Location destination = plane.calc_best_rally_or_home_location(plane.current_loc, RTL_alt_abs_cm);
const float dist = plane.current_loc.get_distance(destination);
const float radius = get_VTOL_return_radius();
if (dist < radius) {