Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 16:48:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: use of AP_Proximity checks HAL_PROXIMITY_ENABLED

Browse Source
This commit is contained in:
Randy Mackay 2021-03-25 17:07:23 +09:00
parent d53c8b1dd0
commit b8f9c3b9c0
1 changed files with 11 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -326,6 +326,8 @@ void GCS_MAVLINK::send_distance_sensor()
// sending them here, and allow the later proximity code to manage
// them
bool filter_possible_proximity_sensors = false;
#if HAL_PROXIMITY_ENABLED
AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity != nullptr) {
for (uint8_t i = 0; i < proximity->num_sensors(); i++) {
@ -334,6 +336,7 @@ void GCS_MAVLINK::send_distance_sensor()
}
}
}
#endif
for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++) {
if (!HAVE_PAYLOAD_SPACE(chan, DISTANCE_SENSOR)) {
@ -371,6 +374,7 @@ void GCS_MAVLINK::send_rangefinder() const
void GCS_MAVLINK::send_proximity()
{
#if HAL_PROXIMITY_ENABLED
AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity == nullptr) {
return; // this is wrong, but pretend we sent data and don't requeue
@ -428,6 +432,7 @@ void GCS_MAVLINK::send_proximity()
0, // Measurement covariance in centimeters, 0 for unknown / invalid readings
0, 0, nullptr, 0);
}
#endif // HAL_PROXIMITY_ENABLED
}
// report AHRS2 state
@ -3239,26 +3244,32 @@ void GCS_MAVLINK::handle_distance_sensor(const mavlink_message_t &msg)
rangefinder->handle_msg(msg);
}
#if HAL_PROXIMITY_ENABLED
AP_Proximity *proximity = AP::proximity();
if (proximity != nullptr) {
proximity->handle_msg(msg);
}
#endif
}
void GCS_MAVLINK::handle_obstacle_distance(const mavlink_message_t &msg)
{
#if HAL_PROXIMITY_ENABLED
AP_Proximity *proximity = AP::proximity();
if (proximity != nullptr) {
proximity->handle_msg(msg);
}
#endif
}
void GCS_MAVLINK::handle_obstacle_distance_3d(const mavlink_message_t &msg)
{
#if HAL_PROXIMITY_ENABLED
AP_Proximity *proximity = AP::proximity();
if (proximity != nullptr) {
proximity->handle_msg(msg);
}
#endif
}
void GCS_MAVLINK::handle_osd_param_config(const mavlink_message_t &msg) const