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AP_VisualOdom: move from HAL_NO_GCS to HAL_GCS_ENABLED

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Peter Barker 2021-09-17 22:15:13 +10:00 committed by Peter Barker
parent 4b5525f53e
commit df3cfe12a9
2 changed files with 5 additions and 0 deletions
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2
libraries/AP_VisualOdom/AP_VisualOdom.cpp
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@ -156,6 +156,7 @@ bool AP_VisualOdom::healthy() const
return _driver->healthy(); return _driver->healthy();
} }
#if HAL_GCS_ENABLED
// consume vision_position_delta mavlink messages // consume vision_position_delta mavlink messages
void AP_VisualOdom::handle_vision_position_delta_msg(const mavlink_message_t &msg) void AP_VisualOdom::handle_vision_position_delta_msg(const mavlink_message_t &msg)
{ {
@ -169,6 +170,7 @@ void AP_VisualOdom::handle_vision_position_delta_msg(const mavlink_message_t &ms
_driver->handle_vision_position_delta_msg(msg); _driver->handle_vision_position_delta_msg(msg);
} }
} }
#endif
// general purpose method to consume position estimate data and send to EKF // general purpose method to consume position estimate data and send to EKF
// distances in meters, roll, pitch and yaw are in radians // distances in meters, roll, pitch and yaw are in radians

3
libraries/AP_VisualOdom/AP_VisualOdom.h
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@ -27,6 +27,7 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_Math/AP_Math.h>
class AP_VisualOdom_Backend; class AP_VisualOdom_Backend;
@ -80,8 +81,10 @@ public:
// return yaw measurement noise in rad // return yaw measurement noise in rad
float get_yaw_noise() const { return _yaw_noise; } float get_yaw_noise() const { return _yaw_noise; }
#if HAL_GCS_ENABLED
// consume vision_position_delta mavlink messages // consume vision_position_delta mavlink messages
void handle_vision_position_delta_msg(const mavlink_message_t &msg); void handle_vision_position_delta_msg(const mavlink_message_t &msg);
#endif
// general purpose methods to consume position estimate data and send to EKF // general purpose methods to consume position estimate data and send to EKF
// distances in meters, roll, pitch and yaw are in radians // distances in meters, roll, pitch and yaw are in radians