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GCS_MAVLink: create and use AP_OPTICALFLOW_ENABLED 

Including a define for each backend.
This commit is contained in:
Peter Barker 2021-12-24 16:47:21 +11:00 committed by Andrew Tridgell
parent a741499cff
commit d2693e4276
2 changed files with 13 additions and 2 deletions
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5
libraries/GCS_MAVLink/GCS.h
View File

@ -27,6 +27,7 @@
#include <AP_Filesystem/AP_Filesystem_Available.h> #include <AP_Filesystem/AP_Filesystem_Available.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
#include <AP_VisualOdom/AP_VisualOdom.h> #include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#include "MissionItemProtocol_Waypoints.h" #include "MissionItemProtocol_Waypoints.h"
#include "MissionItemProtocol_Rally.h" #include "MissionItemProtocol_Rally.h"
@ -292,7 +293,9 @@ public:
void send_sim_state() const; void send_sim_state() const;
void send_ahrs(); void send_ahrs();
void send_battery2(); void send_battery2();
#if AP_OPTICALFLOW_ENABLED
void send_opticalflow(); void send_opticalflow();
#endif
virtual void send_attitude() const; virtual void send_attitude() const;
virtual void send_attitude_quaternion() const; virtual void send_attitude_quaternion() const;
void send_autopilot_version() const; void send_autopilot_version() const;
@ -557,7 +560,9 @@ protected:
MAV_RESULT handle_command_debug_trap(const mavlink_command_long_t &packet); MAV_RESULT handle_command_debug_trap(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_set_ekf_source_set(const mavlink_command_long_t &packet); MAV_RESULT handle_command_set_ekf_source_set(const mavlink_command_long_t &packet);
#if AP_OPTICALFLOW_ENABLED
void handle_optical_flow(const mavlink_message_t &msg); void handle_optical_flow(const mavlink_message_t &msg);
#endif
MAV_RESULT handle_fixed_mag_cal_yaw(const mavlink_command_long_t &packet); MAV_RESULT handle_fixed_mag_cal_yaw(const mavlink_command_long_t &packet);

10
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2308,6 +2308,7 @@ MAV_RESULT GCS_MAVLINK::_set_mode_common(const MAV_MODE _base_mode, const uint32
return MAV_RESULT_DENIED; return MAV_RESULT_DENIED;
} }
#if AP_OPTICALFLOW_ENABLED
/* /*
send OPTICAL_FLOW message send OPTICAL_FLOW message
*/ */
@ -2344,6 +2345,7 @@ void GCS_MAVLINK::send_opticalflow()
flowRate.x, flowRate.x,
flowRate.y); flowRate.y);
} }
#endif // AP_OPTICALFLOW_ENABLED
/* /*
send AUTOPILOT_VERSION packet send AUTOPILOT_VERSION packet
@ -3361,8 +3363,7 @@ void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
} }
// allow override of RC channel values for HIL or for complete GCS #if AP_OPTICALFLOW_ENABLED
// control of switch position and RC PWM values.
void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t &msg) void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t &msg)
{ {
OpticalFlow *optflow = AP::opticalflow(); OpticalFlow *optflow = AP::opticalflow();
@ -3371,6 +3372,7 @@ void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t &msg)
} }
optflow->handle_msg(msg); optflow->handle_msg(msg);
} }
#endif
/* /*
@ -3642,9 +3644,11 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
handle_rc_channels_override(msg); handle_rc_channels_override(msg);
break; break;
#if AP_OPTICALFLOW_ENABLED
case MAVLINK_MSG_ID_OPTICAL_FLOW: case MAVLINK_MSG_ID_OPTICAL_FLOW:
handle_optical_flow(msg); handle_optical_flow(msg);
break; break;
#endif
case MAVLINK_MSG_ID_DISTANCE_SENSOR: case MAVLINK_MSG_ID_DISTANCE_SENSOR:
handle_distance_sensor(msg); handle_distance_sensor(msg);
@ -5181,8 +5185,10 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break; break;
case MSG_OPTICAL_FLOW: case MSG_OPTICAL_FLOW:
#if AP_OPTICALFLOW_ENABLED
CHECK_PAYLOAD_SIZE(OPTICAL_FLOW); CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
send_opticalflow(); send_opticalflow();
#endif
break; break;
case MSG_POSITION_TARGET_GLOBAL_INT: case MSG_POSITION_TARGET_GLOBAL_INT: