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AP_Compass: use AP_GPS_ENABLED to exclude more code when GPS not compiled in

This commit is contained in:
Peter Barker 2023-09-25 18:16:34 +10:00 committed by Peter Barker
parent babdb3625a
commit 9a054876ff
2 changed files with 8 additions and 0 deletions
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3
libraries/AP_Compass/AP_Compass_Calibration.cpp
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@ -453,6 +453,7 @@ MAV_RESULT Compass::handle_mag_cal_command(const mavlink_command_int_t &packet)
#endif // COMPASS_CAL_ENABLED
#if AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
/*
get mag field with the effects of offsets, diagonals and
off-diagonals removed
@ -573,3 +574,5 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
return MAV_RESULT_ACCEPTED;
}
#endif // AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED

5
libraries/AP_Compass/AP_Compass_config.h
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@ -4,6 +4,7 @@
#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
#include <AP_MSP/msp.h>
#include <AP_AHRS/AP_AHRS_config.h>
#include <AP_GPS/AP_GPS_config.h>
#ifndef AP_COMPASS_ENABLED
#define AP_COMPASS_ENABLED 1
@ -17,6 +18,10 @@
#define COMPASS_CAL_ENABLED AP_COMPASS_ENABLED && AP_AHRS_DCM_ENABLED
#endif
#ifndef AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_GPS_ENABLED
#endif
#define COMPASS_MAX_SCALE_FACTOR 1.5
#define COMPASS_MIN_SCALE_FACTOR (1.0/COMPASS_MAX_SCALE_FACTOR)