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AP_Vehicle: add support for compiling arming out

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Peter Barker 2024-02-06 23:28:26 +11:00 committed by Peter Barker
parent e2543bdcb9
commit a949b52b5a
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -605,7 +605,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
#if AP_STATS_ENABLED #if AP_STATS_ENABLED
SCHED_TASK_CLASS(AP_Stats, &vehicle.stats, update, 1, 100, 252), SCHED_TASK_CLASS(AP_Stats, &vehicle.stats, update, 1, 100, 252),
#endif #endif
#if AP_ARMING_ENABLED
SCHED_TASK(update_arming, 1, 50, 253), SCHED_TASK(update_arming, 1, 50, 253),
#endif
}; };
void AP_Vehicle::get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks) void AP_Vehicle::get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks)
@ -692,10 +694,14 @@ void AP_Vehicle::send_watchdog_reset_statustext()
bool AP_Vehicle::is_crashed() const bool AP_Vehicle::is_crashed() const
{ {
#if AP_ARMING_ENABLED
if (AP::arming().is_armed()) { if (AP::arming().is_armed()) {
return false; return false;
} }
return AP::arming().last_disarm_method() == AP_Arming::Method::CRASH; return AP::arming().last_disarm_method() == AP_Arming::Method::CRASH;
#else
return false;
#endif
} }
// update the harmonic notch filter for throttle based notch // update the harmonic notch filter for throttle based notch
@ -950,11 +956,13 @@ void AP_Vehicle::accel_cal_update()
} }
#endif // HAL_INS_ACCELCAL_ENABLED #endif // HAL_INS_ACCELCAL_ENABLED
#if AP_ARMING_ENABLED
// call the arming library's update function // call the arming library's update function
void AP_Vehicle::update_arming() void AP_Vehicle::update_arming()
{ {
AP::arming().update(); AP::arming().update();
} }
#endif
/* /*
one Hz checks common to all vehicles one Hz checks common to all vehicles