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AP_Baro: fixed baro build with AP_Periph 

no GCS available
This commit is contained in:
Andrew Tridgell 2019-07-26 16:55:52 +10:00
parent a19e55e83c
commit e8e18959f7
1 changed files with 13 additions and 3 deletions
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16
libraries/AP_Baro/AP_Baro.cpp
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@ -170,6 +170,12 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = {
// singleton instance // singleton instance
AP_Baro *AP_Baro::_singleton; AP_Baro *AP_Baro::_singleton;
#ifdef HAL_NO_GCS
#define BARO_SEND_TEXT(severity, format, args...)
#else
#define BARO_SEND_TEXT(severity, format, args...) gcs().send_text(severity, format, ##args)
#endif
/* /*
AP_Baro constructor AP_Baro constructor
*/ */
@ -191,10 +197,10 @@ void AP_Baro::calibrate(bool save)
} }
if (hal.util->was_watchdog_reset()) { if (hal.util->was_watchdog_reset()) {
gcs().send_text(MAV_SEVERITY_INFO, "Baro: skipping calibration"); BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Baro: skipping calibration");
return; return;
} }
gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer"); BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Calibrating barometer");
// reset the altitude offset when we calibrate. The altitude // reset the altitude offset when we calibrate. The altitude
// offset is supposed to be for within a flight // offset is supposed to be for within a flight
@ -252,7 +258,7 @@ void AP_Baro::calibrate(bool save)
uint8_t num_calibrated = 0; uint8_t num_calibrated = 0;
for (uint8_t i=0; i<_num_sensors; i++) { for (uint8_t i=0; i<_num_sensors; i++) {
if (sensors[i].calibrated) { if (sensors[i].calibrated) {
gcs().send_text(MAV_SEVERITY_INFO, "Barometer %u calibration complete", i+1); BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Barometer %u calibration complete", i+1);
num_calibrated++; num_calibrated++;
} }
} }
@ -393,6 +399,7 @@ float AP_Baro::get_external_temperature(const uint8_t instance) const
return _external_temperature; return _external_temperature;
} }
#ifndef HAL_BUILD_AP_PERIPH
// if we don't have an external temperature then try to use temperature // if we don't have an external temperature then try to use temperature
// from the airspeed sensor // from the airspeed sensor
AP_Airspeed *airspeed = AP_Airspeed::get_singleton(); AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
@ -402,6 +409,7 @@ float AP_Baro::get_external_temperature(const uint8_t instance) const
return temperature; return temperature;
} }
} }
#endif
// if we don't have an external temperature and airspeed temperature // if we don't have an external temperature and airspeed temperature
// then use the minimum of the barometer temperature and 35 degrees C. // then use the minimum of the barometer temperature and 35 degrees C.
@ -818,9 +826,11 @@ void AP_Baro::update(void)
} }
// logging // logging
#ifndef HAL_NO_LOGGING
if (should_log() && !AP::ahrs().have_ekf_logging()) { if (should_log() && !AP::ahrs().have_ekf_logging()) {
AP::logger().Write_Baro(); AP::logger().Write_Baro();
} }
#endif
} }
/* /*