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AP_Frsky_Telem: fix complation without fence

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Iampete1 2022-03-04 16:38:15 +00:00 committed by Andrew Tridgell
parent cababad66b
commit df3affc38c
2 changed files with 6 additions and 0 deletions
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4
libraries/AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp
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@ -142,6 +142,7 @@ MAV_RESULT AP_Frsky_MAVliteMsgHandler::handle_command_preflight_calibration_baro
MAV_RESULT AP_Frsky_MAVliteMsgHandler::handle_command_do_fence_enable(const mavlink_command_long_t &mav_command_long) MAV_RESULT AP_Frsky_MAVliteMsgHandler::handle_command_do_fence_enable(const mavlink_command_long_t &mav_command_long)
{ {
#if AC_FENCE
AC_Fence *fence = AP::fence(); AC_Fence *fence = AP::fence();
if (fence == nullptr) { if (fence == nullptr) {
return MAV_RESULT_UNSUPPORTED; return MAV_RESULT_UNSUPPORTED;
@ -157,6 +158,9 @@ MAV_RESULT AP_Frsky_MAVliteMsgHandler::handle_command_do_fence_enable(const mavl
default: default:
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
#else
return MAV_RESULT_UNSUPPORTED;
#endif // AC_FENCE
} }
/* /*

2
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
View File

@ -582,12 +582,14 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_ap_status(void)
ap_status |= (uint8_t)(AP_Notify::flags.ekf_bad)<<AP_EKF_FS_OFFSET; ap_status |= (uint8_t)(AP_Notify::flags.ekf_bad)<<AP_EKF_FS_OFFSET;
// generic failsafe // generic failsafe
ap_status |= (uint8_t)(AP_Notify::flags.failsafe_battery||AP_Notify::flags.failsafe_ekf||AP_Notify::flags.failsafe_gcs||AP_Notify::flags.failsafe_radio)<<AP_FS_OFFSET; ap_status |= (uint8_t)(AP_Notify::flags.failsafe_battery||AP_Notify::flags.failsafe_ekf||AP_Notify::flags.failsafe_gcs||AP_Notify::flags.failsafe_radio)<<AP_FS_OFFSET;
#if AC_FENCE
// fence status // fence status
AC_Fence *fence = AP::fence(); AC_Fence *fence = AP::fence();
if (fence != nullptr) { if (fence != nullptr) {
ap_status |= (uint8_t)(fence->enabled() && fence->present()) << AP_FENCE_PRESENT_OFFSET; ap_status |= (uint8_t)(fence->enabled() && fence->present()) << AP_FENCE_PRESENT_OFFSET;
ap_status |= (uint8_t)(fence->get_breaches()>0) << AP_FENCE_BREACH_OFFSET; ap_status |= (uint8_t)(fence->get_breaches()>0) << AP_FENCE_BREACH_OFFSET;
} }
#endif
// signed throttle [-100,100] scaled down to [-63,63] on 7 bits, MSB for sign + 6 bits for 0-63 // signed throttle [-100,100] scaled down to [-63,63] on 7 bits, MSB for sign + 6 bits for 0-63
ap_status |= prep_number(gcs().get_hud_throttle()*0.63, 2, 0)<<AP_THROTTLE_OFFSET; ap_status |= prep_number(gcs().get_hud_throttle()*0.63, 2, 0)<<AP_THROTTLE_OFFSET;
// IMU temperature // IMU temperature