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AR_Motors: correct compilation when GCS library not available

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This commit is contained in:
Peter Barker 2023-12-08 13:10:38 +11:00 committed by Andrew Tridgell
parent 673fad04de
commit c15a73c798
1 changed files with 5 additions and 5 deletions
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10
libraries/AR_Motors/AP_MotorsUGV.cpp
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@ -465,21 +465,21 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
!SRV_Channels::function_assigned(SRV_Channel::k_scripting1) &&
!has_sail()) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: no motor, sail or scripting outputs defined");
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: no motor, sail or scripting outputs defined");
}
return false;
}
// check if only one of skid-steering output has been configured
if (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) != SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: check skid steering config");
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: check skid steering config");
}
return false;
}
// check if only one of throttle or steering outputs has been configured, if has a sail allow no throttle
if ((has_sail() || SRV_Channels::function_assigned(SRV_Channel::k_throttle)) != SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: check steering and throttle config");
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: check steering and throttle config");
}
return false;
}
@ -488,7 +488,7 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(i);
if (!SRV_Channels::function_assigned(function)) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: servo function %u unassigned", function);
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: servo function %u unassigned", function);
}
return false;
}
@ -613,7 +613,7 @@ void AP_MotorsUGV::add_omni_motor_num(int8_t motor_num)
SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(motor_num);
SRV_Channels::set_aux_channel_default(function, motor_num);
if (!SRV_Channels::find_channel(function, chan)) {
gcs().send_text(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num);
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num);
}
}
}