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AP_Mission: add option to disable relay and servorelay libraries

This commit is contained in:
Peter Barker 2023-06-06 18:05:06 +10:00 committed by Peter Barker
parent 2932dea4ff
commit e423173848
2 changed files with 10 additions and 0 deletions
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3
libraries/AP_Mission/AP_Mission.cpp
View File

@ -9,6 +9,7 @@
#include <AP_Gripper/AP_Gripper_config.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_ServoRelayEvents/AP_ServoRelayEvents_config.h>
const AP_Param::GroupInfo AP_Mission::var_info[] = {
@ -404,11 +405,13 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
case MAV_CMD_DO_GRIPPER:
return start_command_do_gripper(cmd);
#endif
#if AP_SERVORELAYEVENTS_ENABLED
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
return start_command_do_servorelayevents(cmd);
#endif
#if AP_CAMERA_ENABLED
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:

7
libraries/AP_Mission/AP_Mission_Commands.cpp
View File

@ -59,6 +59,7 @@ bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd
}
#endif // AP_GRIPPER_ENABLED
#if AP_SERVORELAYEVENTS_ENABLED
bool AP_Mission::start_command_do_servorelayevents(const AP_Mission::Mission_Command& cmd)
{
AP_ServoRelayEvents *sre = AP::servorelayevents();
@ -70,8 +71,10 @@ bool AP_Mission::start_command_do_servorelayevents(const AP_Mission::Mission_Com
case MAV_CMD_DO_SET_SERVO:
return sre->do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
#if AP_RELAY_ENABLED
case MAV_CMD_DO_SET_RELAY:
return sre->do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
#endif
case MAV_CMD_DO_REPEAT_SERVO:
return sre->do_repeat_servo(cmd.content.repeat_servo.channel,
@ -79,10 +82,13 @@ bool AP_Mission::start_command_do_servorelayevents(const AP_Mission::Mission_Com
cmd.content.repeat_servo.repeat_count,
cmd.content.repeat_servo.cycle_time * 1000.0f);
#if AP_RELAY_ENABLED
case MAV_CMD_DO_REPEAT_RELAY:
return sre->do_repeat_relay(cmd.content.repeat_relay.num,
cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f);
#endif
default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled servo/relay case");
@ -90,6 +96,7 @@ bool AP_Mission::start_command_do_servorelayevents(const AP_Mission::Mission_Com
return false;
}
}
#endif // AP_SERVORELAYEVENTS_ENABLED
#if AP_CAMERA_ENABLED
bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)