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AP_InertialSensor: create define specifically for the developer feature for killing IMUs

This commit is contained in:
Peter Barker 2023-06-06 12:12:12 +10:00 committed by Andrew Tridgell
parent 82e15536d2
commit baf5d34256
2 changed files with 6 additions and 2 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -2551,7 +2551,7 @@ AP_InertialSensor::Gyro_Calibration_Timing AP_InertialSensor::gyro_calibration_t
return (Gyro_Calibration_Timing)_gyro_cal_timing.get();
}
#if !HAL_MINIMIZE_FEATURES
#if AP_INERTIALSENSOR_KILL_IMU_ENABLED
/*
update IMU kill mask, used for testing IMU failover
*/
@ -2574,7 +2574,7 @@ void AP_InertialSensor::kill_imu(uint8_t imu_idx, bool kill_it)
imu_kill_mask &= ~(1U<<imu_idx);
}
}
#endif // HAL_MINIMIZE_FEATURES
#endif // AP_INERTIALSENSOR_KILL_IMU_ENABLED
#if HAL_EXTERNAL_AHRS_ENABLED

4
libraries/AP_InertialSensor/AP_InertialSensor_config.h
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@ -59,3 +59,7 @@
#ifndef AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
#define AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED (AP_INERTIALSENSOR_ENABLED && HAL_LOGGING_ENABLED)
#endif
#ifndef AP_INERTIALSENSOR_KILL_IMU_ENABLED
#define AP_INERTIALSENSOR_KILL_IMU_ENABLED 1
#endif