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AP_ICEngine: allow more libraries to compile with no HAL_GCS_ENABLED

This commit is contained in:
Peter Barker 2023-09-02 15:21:35 +10:00 committed by Peter Barker
parent deb63c28fc
commit e7b717167b
1 changed files with 9 additions and 9 deletions
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18
libraries/AP_ICEngine/AP_ICEngine.cpp
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@ -272,7 +272,7 @@ void AP_ICEngine::update(void)
height_pending = false; height_pending = false;
initial_height = -pos.z; initial_height = -pos.z;
} else if ((-pos.z) >= initial_height + height_required) { } else if ((-pos.z) >= initial_height + height_required) {
gcs().send_text(MAV_SEVERITY_INFO, "Starting height reached %.1f", GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Starting height reached %.1f",
(double)(-pos.z - initial_height)); (double)(-pos.z - initial_height));
state = ICE_STARTING; state = ICE_STARTING;
} }
@ -284,7 +284,7 @@ void AP_ICEngine::update(void)
if (!should_run) { if (!should_run) {
state = ICE_OFF; state = ICE_OFF;
} else if (now - starter_last_run_ms >= starter_delay*1000) { } else if (now - starter_last_run_ms >= starter_delay*1000) {
gcs().send_text(MAV_SEVERITY_INFO, "Starting engine"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Starting engine");
state = ICE_STARTING; state = ICE_STARTING;
} }
break; break;
@ -293,7 +293,7 @@ void AP_ICEngine::update(void)
if (!should_run) { if (!should_run) {
state = ICE_OFF; state = ICE_OFF;
} else if (now - starter_start_time_ms >= starter_time*1000) { } else if (now - starter_start_time_ms >= starter_time*1000) {
gcs().send_text(MAV_SEVERITY_INFO, "Engine running"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Engine running");
state = ICE_RUNNING; state = ICE_RUNNING;
} }
break; break;
@ -301,7 +301,7 @@ void AP_ICEngine::update(void)
case ICE_RUNNING: case ICE_RUNNING:
if (!should_run) { if (!should_run) {
state = ICE_OFF; state = ICE_OFF;
gcs().send_text(MAV_SEVERITY_INFO, "Stopped engine"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Stopped engine");
} }
#if AP_RPM_ENABLED #if AP_RPM_ENABLED
else if (rpm_instance > 0) { else if (rpm_instance > 0) {
@ -311,7 +311,7 @@ void AP_ICEngine::update(void)
rpm_value < rpm_threshold) { rpm_value < rpm_threshold) {
// engine has stopped when it should be running // engine has stopped when it should be running
state = ICE_START_DELAY; state = ICE_START_DELAY;
gcs().send_text(MAV_SEVERITY_INFO, "Uncommanded engine stop"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Uncommanded engine stop");
} }
} }
#endif #endif
@ -340,7 +340,7 @@ void AP_ICEngine::update(void)
filtered_rpm_value = _rpm_filter.apply(rpm_value); filtered_rpm_value = _rpm_filter.apply(rpm_value);
if (!redline.flag && filtered_rpm_value > redline_rpm) { if (!redline.flag && filtered_rpm_value > redline_rpm) {
// redline governor is off. rpm is too high. enable the governor // redline governor is off. rpm is too high. enable the governor
gcs().send_text(MAV_SEVERITY_INFO, "Engine: Above redline RPM"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Engine: Above redline RPM");
redline.flag = true; redline.flag = true;
} else if (redline.flag && filtered_rpm_value < redline_rpm * 0.9f) { } else if (redline.flag && filtered_rpm_value < redline_rpm * 0.9f) {
// redline governor is on. rpm is safely below. disable the governor // redline governor is on. rpm is safely below. disable the governor
@ -466,7 +466,7 @@ bool AP_ICEngine::engine_control(float start_control, float cold_start, float he
return true; return true;
} }
if (state == ICE_RUNNING || state == ICE_START_DELAY || state == ICE_STARTING) { if (state == ICE_RUNNING || state == ICE_START_DELAY || state == ICE_STARTING) {
gcs().send_text(MAV_SEVERITY_INFO, "Engine: already running"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Engine: already running");
return false; return false;
} }
RC_Channel *c = rc().channel(start_chan-1); RC_Channel *c = rc().channel(start_chan-1);
@ -474,7 +474,7 @@ bool AP_ICEngine::engine_control(float start_control, float cold_start, float he
// get starter control channel // get starter control channel
uint16_t cvalue = c->get_radio_in(); uint16_t cvalue = c->get_radio_in();
if (cvalue >= start_chan_min_pwm && cvalue <= RC_Channel::AUX_PWM_TRIGGER_LOW) { if (cvalue >= start_chan_min_pwm && cvalue <= RC_Channel::AUX_PWM_TRIGGER_LOW) {
gcs().send_text(MAV_SEVERITY_INFO, "Engine: start control disabled"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Engine: start control disabled");
return false; return false;
} }
} }
@ -483,7 +483,7 @@ bool AP_ICEngine::engine_control(float start_control, float cold_start, float he
initial_height = 0; initial_height = 0;
height_required = height_delay; height_required = height_delay;
state = ICE_START_HEIGHT_DELAY; state = ICE_START_HEIGHT_DELAY;
gcs().send_text(MAV_SEVERITY_INFO, "Takeoff height set to %.1fm", (double)height_delay); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Takeoff height set to %.1fm", (double)height_delay);
return true; return true;
} }
state = ICE_STARTING; state = ICE_STARTING;