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AP_Mount: allow more libraries to compile with no HAL_GCS_ENABLED

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Peter Barker 2023-09-02 15:21:35 +10:00 committed by Peter Barker
parent dd2ce88152
commit d1bcd2c5e1
4 changed files with 14 additions and 9 deletions
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2
libraries/AP_Mount/AP_Mount.cpp
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@ -582,6 +582,7 @@ void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
} }
#endif #endif
#if HAL_GCS_ENABLED
// send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
void AP_Mount::send_gimbal_device_attitude_status(mavlink_channel_t chan) void AP_Mount::send_gimbal_device_attitude_status(mavlink_channel_t chan)
{ {
@ -614,6 +615,7 @@ void AP_Mount::send_gimbal_manager_status(mavlink_channel_t chan)
} }
} }
} }
#endif // HAL_GCS_ENABLED
// get mount's current attitude in euler angles in degrees. yaw angle is in body-frame // get mount's current attitude in euler angles in degrees. yaw angle is in body-frame
// returns true on success // returns true on success

4
libraries/AP_Mount/AP_Mount_Backend.cpp
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@ -116,6 +116,7 @@ void AP_Mount_Backend::handle_mount_configure(const mavlink_mount_configure_t &p
} }
#endif #endif
#if HAL_GCS_ENABLED
// send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
void AP_Mount_Backend::send_gimbal_device_attitude_status(mavlink_channel_t chan) void AP_Mount_Backend::send_gimbal_device_attitude_status(mavlink_channel_t chan)
{ {
@ -146,6 +147,7 @@ void AP_Mount_Backend::send_gimbal_device_attitude_status(mavlink_channel_t chan
std::numeric_limits<double>::quiet_NaN(), // delta_yaw_velocity (NaN for unknonw) std::numeric_limits<double>::quiet_NaN(), // delta_yaw_velocity (NaN for unknonw)
_instance + 1); // gimbal_device_id _instance + 1); // gimbal_device_id
} }
#endif
// return gimbal manager capability flags used by GIMBAL_MANAGER_INFORMATION message // return gimbal manager capability flags used by GIMBAL_MANAGER_INFORMATION message
uint32_t AP_Mount_Backend::get_gimbal_manager_capability_flags() const uint32_t AP_Mount_Backend::get_gimbal_manager_capability_flags() const
@ -654,7 +656,7 @@ void AP_Mount_Backend::send_warning_to_GCS(const char* warning_str)
return; return;
} }
gcs().send_text(MAV_SEVERITY_WARNING, "Mount: %s", warning_str); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Mount: %s", warning_str);
_last_warning_ms = now_ms; _last_warning_ms = now_ms;
} }

15
libraries/AP_Mount/AP_Mount_Siyi.cpp
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@ -334,20 +334,20 @@ void AP_Mount_Siyi::process_packet()
_msg_buff[_msg_buff_data_start+0] // firmware revision (aka patch) _msg_buff[_msg_buff_data_start+0] // firmware revision (aka patch)
}; };
gcs().send_text(MAV_SEVERITY_INFO, "Mount: SiyiCam fw:%u.%u.%u", GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mount: SiyiCam fw:%u.%u.%u",
(unsigned)_cam_firmware_version.major, // firmware major version (unsigned)_cam_firmware_version.major, // firmware major version
(unsigned)_cam_firmware_version.minor, // firmware minor version (unsigned)_cam_firmware_version.minor, // firmware minor version
(unsigned)_cam_firmware_version.patch); // firmware revision (unsigned)_cam_firmware_version.patch); // firmware revision
// display gimbal info to user // display gimbal info to user
gcs().send_text(MAV_SEVERITY_INFO, "Mount: Siyi fw:%u.%u.%u", GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mount: Siyi fw:%u.%u.%u",
(unsigned)_msg_buff[_msg_buff_data_start+6], // firmware major version (unsigned)_msg_buff[_msg_buff_data_start+6], // firmware major version
(unsigned)_msg_buff[_msg_buff_data_start+5], // firmware minor version (unsigned)_msg_buff[_msg_buff_data_start+5], // firmware minor version
(unsigned)_msg_buff[_msg_buff_data_start+4]); // firmware revision (unsigned)_msg_buff[_msg_buff_data_start+4]); // firmware revision
// display zoom firmware version for those that have it // display zoom firmware version for those that have it
if (_parsed_msg.data_bytes_received >= 12) { if (_parsed_msg.data_bytes_received >= 12) {
gcs().send_text(MAV_SEVERITY_INFO, "Mount: SiyiZoom fw:%u.%u.%u", GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mount: SiyiZoom fw:%u.%u.%u",
(unsigned)_msg_buff[_msg_buff_data_start+10], // firmware major version (unsigned)_msg_buff[_msg_buff_data_start+10], // firmware major version
(unsigned)_msg_buff[_msg_buff_data_start+9], // firmware minor version (unsigned)_msg_buff[_msg_buff_data_start+9], // firmware minor version
(unsigned)_msg_buff[_msg_buff_data_start+8]); // firmware revision (unsigned)_msg_buff[_msg_buff_data_start+8]); // firmware revision
@ -362,7 +362,7 @@ void AP_Mount_Siyi::process_packet()
for (uint8_t i=1; i<ARRAY_SIZE(hardware_lookup_table); i++) { for (uint8_t i=1; i<ARRAY_SIZE(hardware_lookup_table); i++) {
if (hwid0 == hardware_lookup_table[i].hwid[0] && hwid1 == hardware_lookup_table[i].hwid[1]) { if (hwid0 == hardware_lookup_table[i].hwid[0] && hwid1 == hardware_lookup_table[i].hwid[1]) {
_hardware_model = (HardwareModel)i; _hardware_model = (HardwareModel)i;
gcs().send_text(MAV_SEVERITY_INFO, "Mount: Siyi %s", get_model_name()); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mount: Siyi %s", get_model_name());
} }
} }
_got_hardware_id = true; _got_hardware_id = true;
@ -430,7 +430,7 @@ void AP_Mount_Siyi::process_packet()
// update recording state and warn user of mismatch // update recording state and warn user of mismatch
const bool recording = _msg_buff[_msg_buff_data_start+3] > 0; const bool recording = _msg_buff[_msg_buff_data_start+3] > 0;
if (recording != _last_record_video) { if (recording != _last_record_video) {
gcs().send_text(MAV_SEVERITY_INFO, "Siyi: recording %s", recording ? "ON" : "OFF"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Siyi: recording %s", recording ? "ON" : "OFF");
} }
_last_record_video = recording; _last_record_video = recording;
debug("GimConf hdr:%u rec:%u foll:%u mntdir:%u", (unsigned)_msg_buff[_msg_buff_data_start+1], debug("GimConf hdr:%u rec:%u foll:%u mntdir:%u", (unsigned)_msg_buff[_msg_buff_data_start+1],
@ -449,12 +449,13 @@ void AP_Mount_Siyi::process_packet()
} }
const uint8_t func_feedback_info = _msg_buff[_msg_buff_data_start]; const uint8_t func_feedback_info = _msg_buff[_msg_buff_data_start];
const char* err_prefix = "Mount: Siyi"; const char* err_prefix = "Mount: Siyi";
(void)err_prefix; // in case !HAL_GCS_ENABLED
switch ((FunctionFeedbackInfo)func_feedback_info) { switch ((FunctionFeedbackInfo)func_feedback_info) {
case FunctionFeedbackInfo::SUCCESS: case FunctionFeedbackInfo::SUCCESS:
debug("FnFeedB success"); debug("FnFeedB success");
break; break;
case FunctionFeedbackInfo::FAILED_TO_TAKE_PHOTO: case FunctionFeedbackInfo::FAILED_TO_TAKE_PHOTO:
gcs().send_text(MAV_SEVERITY_ERROR, "%s failed to take picture", err_prefix); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s failed to take picture", err_prefix);
break; break;
case FunctionFeedbackInfo::HDR_ON: case FunctionFeedbackInfo::HDR_ON:
debug("HDR on"); debug("HDR on");
@ -463,7 +464,7 @@ void AP_Mount_Siyi::process_packet()
debug("HDR off"); debug("HDR off");
break; break;
case FunctionFeedbackInfo::FAILED_TO_RECORD_VIDEO: case FunctionFeedbackInfo::FAILED_TO_RECORD_VIDEO:
gcs().send_text(MAV_SEVERITY_ERROR, "%s failed to record video", err_prefix); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s failed to record video", err_prefix);
break; break;
default: default:
debug("FnFeedB unexpected val:%u", (unsigned)func_feedback_info); debug("FnFeedB unexpected val:%u", (unsigned)func_feedback_info);

2
libraries/AP_Mount/AP_Mount_config.h
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@ -34,7 +34,7 @@
#endif #endif
#ifndef HAL_MOUNT_STORM32MAVLINK_ENABLED #ifndef HAL_MOUNT_STORM32MAVLINK_ENABLED
#define HAL_MOUNT_STORM32MAVLINK_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED #define HAL_MOUNT_STORM32MAVLINK_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
#endif #endif
#ifndef HAL_MOUNT_STORM32SERIAL_ENABLED #ifndef HAL_MOUNT_STORM32SERIAL_ENABLED