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Blimp: add option to disable relay and servorelay libraries

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Peter Barker 2023-06-06 18:05:07 +10:00 committed by Peter Barker
parent d9e89eb602
commit ccd39efe1c
2 changed files with 4 additions and 0 deletions
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2
Blimp/Blimp.cpp
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@ -72,7 +72,9 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
SCHED_TASK(arm_motors_check, 10, 50, 18), SCHED_TASK(arm_motors_check, 10, 50, 18),
SCHED_TASK(update_altitude, 10, 100, 21), SCHED_TASK(update_altitude, 10, 100, 21),
SCHED_TASK(three_hz_loop, 3, 75, 24), SCHED_TASK(three_hz_loop, 3, 75, 24),
#if AP_SERVORELAYEVENTS_ENABLED
SCHED_TASK_CLASS(AP_ServoRelayEvents, &blimp.ServoRelayEvents, update_events, 50, 75, 27), SCHED_TASK_CLASS(AP_ServoRelayEvents, &blimp.ServoRelayEvents, update_events, 50, 75, 27),
#endif
SCHED_TASK_CLASS(AP_Baro, &blimp.barometer, accumulate, 50, 90, 30), SCHED_TASK_CLASS(AP_Baro, &blimp.barometer, accumulate, 50, 90, 30),
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
SCHED_TASK(full_rate_logging, 50, 50, 33), SCHED_TASK(full_rate_logging, 50, 50, 33),

2
Blimp/system.cpp
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@ -58,7 +58,9 @@ void Blimp::init_ardupilot()
// motors initialised so parameters can be sent // motors initialised so parameters can be sent
ap.initialised_params = true; ap.initialised_params = true;
#if AP_RELAY_ENABLED
relay.init(); relay.init();
#endif
/* /*
* setup the 'main loop is dead' check. Note that this relies on * setup the 'main loop is dead' check. Note that this relies on