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CS_MAVLink: tidy use of AP_BATTERY_ENABLED defines 

remove entire functions rather than just their content
This commit is contained in:
Peter Barker 2023-10-24 20:29:37 +11:00 committed by Peter Barker
parent e110ee5537
commit e85f843c5d
1 changed files with 11 additions and 19 deletions
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30
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -230,19 +230,15 @@ void GCS_MAVLINK::send_mcu_status(void)
}
#endif
#if AP_BATTERY_ENABLED
// returns the battery remaining percentage if valid, -1 otherwise
int8_t GCS_MAVLINK::battery_remaining_pct(const uint8_t instance) const {
#if AP_BATTERY_ENABLED
uint8_t percentage;
return AP::battery().capacity_remaining_pct(percentage, instance) ? MIN(percentage, INT8_MAX) : -1;
#else
return -1;
#endif
}
void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
{
#if AP_BATTERY_ENABLED
// catch the battery backend not supporting the required number of cells
static_assert(sizeof(AP_BattMonitor::cells) >= (sizeof(uint16_t) * MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN),
"Not enough battery cells for the MAVLink message");
@ -360,15 +356,11 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
cell_mvolts_ext, // Cell 11..14 voltages
0, // battery mode
battery.get_mavlink_fault_bitmask(instance)); // fault_bitmask
#else
(void)instance;
#endif
}
// returns true if all battery instances were reported
bool GCS_MAVLINK::send_battery_status()
{
#if AP_BATTERY_ENABLED
const AP_BattMonitor &battery = AP::battery();
for(uint8_t i = 0; i < AP_BATT_MONITOR_MAX_INSTANCES; i++) {
@ -383,10 +375,8 @@ bool GCS_MAVLINK::send_battery_status()
}
}
return true;
#else
return false;
#endif
}
#endif // AP_BATTERY_ENABLED
void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const
{
@ -2518,11 +2508,10 @@ void GCS::setup_uarts()
#endif
}
#if AP_MAVLINK_BATTERY2_ENABLED
#if AP_BATTERY_ENABLED && AP_MAVLINK_BATTERY2_ENABLED
// report battery2 state
void GCS_MAVLINK::send_battery2()
{
#if AP_BATTERY_ENABLED
const AP_BattMonitor &battery = AP::battery();
if (battery.num_instances() > 1) {
@ -2534,9 +2523,8 @@ void GCS_MAVLINK::send_battery2()
}
mavlink_msg_battery2_send(chan, battery.voltage(1)*1000, current);
}
#endif
}
#endif // AP_MAVLINK_BATTERY2_ENABLED
#endif // AP_BATTERY_ENABLED && AP_MAVLINK_BATTERY2_ENABLED
/*
handle a SET_MODE MAVLink message
@ -4464,17 +4452,17 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_mission_current(const mavlink_comm
return MAV_RESULT_ACCEPTED;
}
#if AP_BATTERY_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_long_t &packet)
{
#if AP_BATTERY_ENABLED
const uint16_t battery_mask = packet.param1;
const float percentage = packet.param2;
if (AP::battery().reset_remaining_mask(battery_mask, percentage)) {
return MAV_RESULT_ACCEPTED;
}
#endif
return MAV_RESULT_FAILED;
}
#endif
#if AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet)
@ -4758,10 +4746,12 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_do_set_mission_current(packet);
break;
#if AP_BATTERY_ENABLED
case MAV_CMD_BATTERY_RESET:
result = handle_command_battery_reset(packet);
break;
#endif
#if HAL_ADSB_ENABLED
case MAV_CMD_DO_ADSB_OUT_IDENT:
if ((AP::ADSB() != nullptr) && AP::ADSB()->ident_start()) {
@ -5686,6 +5676,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
#endif
#if AP_BATTERY_ENABLED
case MSG_BATTERY_STATUS:
send_battery_status();
break;
@ -5696,6 +5687,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_battery2();
break;
#endif
#endif // AP_BATTERY_ENABLED
case MSG_EKF_STATUS_REPORT:
CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT);