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Fixed missing definition error UAVCAN_IOCS_HARDPOINT_SET

This commit is contained in:
Pavel Kirienko 2016-06-26 21:29:55 +03:00 committed by Andrew Tridgell
parent fccdcf50c1
commit 9b786559d4
1 changed files with 10 additions and 2 deletions
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12
libraries/AP_EPM/AP_EPM.cpp
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@ -105,11 +105,15 @@ void AP_EPM::grab()
// capture time
_last_grab_or_release = AP_HAL::millis();
#ifdef UAVCAN_IOCS_HARDPOINT_SET
if (should_use_uavcan()) {
::printf("EPM: UAVCAN GRAB\n");
const UAVCANCommand cmd = make_uavcan_command(1);
(void)ioctl(_uavcan_fd, UAVCAN_IOCS_HARDPOINT_SET, reinterpret_cast<unsigned long>(&cmd));
} else {
}
else
#endif
{
// move the servo to the release position
RC_Channel_aux::set_radio(RC_Channel_aux::k_epm, _grab_pwm);
}
@ -130,11 +134,15 @@ void AP_EPM::release()
// capture time
_last_grab_or_release = AP_HAL::millis();
#ifdef UAVCAN_IOCS_HARDPOINT_SET
if (should_use_uavcan()) {
::printf("EPM: UAVCAN RELEASE\n");
const UAVCANCommand cmd = make_uavcan_command(0);
(void)ioctl(_uavcan_fd, UAVCAN_IOCS_HARDPOINT_SET, reinterpret_cast<unsigned long>(&cmd));
} else {
}
else
#endif
{
// move the servo to the release position
RC_Channel_aux::set_radio(RC_Channel_aux::k_epm, _release_pwm);
}