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AP_PiccoloCAN: fix compilation when HAL_WITH_ESC_TELEM == 0

This commit is contained in:
Dr.-Ing. Amilcar do Carmo Lucas 2021-04-16 20:11:21 +02:00 committed by Peter Barker
parent f4409066bc
commit d15042d7c0
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
View File

@ -352,6 +352,9 @@ void AP_PiccoloCAN::send_esc_messages(void)
// interpret an ESC message received over CAN
bool AP_PiccoloCAN::handle_esc_message(AP_HAL::CANFrame &frame)
{
bool result = true;
#if HAL_WITH_ESC_TELEM
uint64_t timestamp = AP_HAL::micros64();
// The ESC address is the lower byte of the address
@ -372,8 +375,6 @@ bool AP_PiccoloCAN::handle_esc_message(AP_HAL::CANFrame &frame)
PiccoloESC_Info_t &esc = _esc_info[addr];
bool result = true;
/*
* The STATUS_A packet has slight variations between Gen-1 and Gen-2 ESCs.
* We can differentiate between the different versions,
@ -445,6 +446,7 @@ bool AP_PiccoloCAN::handle_esc_message(AP_HAL::CANFrame &frame)
// Reset the Rx timestamp
esc.last_rx_msg_timestamp = timestamp;
}
#endif // HAL_WITH_ESC_TELEM
return result;
}

2
libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
View File

@ -19,7 +19,6 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_CANManager/AP_CANDriver.h>
#include <AP_HAL/Semaphores.h>
#include <AP_Param/AP_Param.h>
#include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>
@ -114,7 +113,6 @@ private:
uint8_t _driver_index;
AP_HAL::CANIface* _can_iface;
HAL_EventHandle _event_handle;
HAL_Semaphore _telem_sem;
struct PiccoloESC_Info_t {