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Copter: correct compilation when AUTO/RTL are disabled

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Peter Barker 2020-10-01 21:45:40 +10:00 committed by Peter Barker
parent 2783257aa4
commit af53f9ce64
2 changed files with 4 additions and 0 deletions
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2
ArduCopter/AP_Arming.cpp
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@ -229,6 +229,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
#endif // HELI_FRAME #endif // HELI_FRAME
// checks when using range finder for RTL // checks when using range finder for RTL
#if MODE_RTL_ENABLED == ENABLED
if (copter.mode_rtl.get_alt_type() == ModeRTL::RTLAltType::RTL_ALTTYPE_TERRAIN) { if (copter.mode_rtl.get_alt_type() == ModeRTL::RTLAltType::RTL_ALTTYPE_TERRAIN) {
// get terrain source from wpnav // get terrain source from wpnav
switch (copter.wp_nav->get_terrain_source()) { switch (copter.wp_nav->get_terrain_source()) {
@ -267,6 +268,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
break; break;
} }
} }
#endif
// check adsb avoidance failsafe // check adsb avoidance failsafe
#if HAL_ADSB_ENABLED #if HAL_ADSB_ENABLED

2
ArduCopter/GCS_Mavlink.cpp
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@ -697,11 +697,13 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
#if MODE_AUTO_ENABLED == ENABLED
case MAV_CMD_DO_LAND_START: case MAV_CMD_DO_LAND_START:
if (copter.mode_auto.mission.jump_to_landing_sequence() && copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) { if (copter.mode_auto.mission.jump_to_landing_sequence() && copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
#endif
case MAV_CMD_NAV_LOITER_UNLIM: case MAV_CMD_NAV_LOITER_UNLIM:
if (!copter.set_mode(Mode::Number::LOITER, ModeReason::GCS_COMMAND)) { if (!copter.set_mode(Mode::Number::LOITER, ModeReason::GCS_COMMAND)) {