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AC_Avoidance: allow more libraries to compile with no HAL_GCS_ENABLED

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Peter Barker 2023-09-02 15:21:33 +10:00 committed by Peter Barker
parent 4ce65bb3f7
commit ee1ce32ead
2 changed files with 5 additions and 2 deletions
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4
libraries/AC_Avoidance/AP_OADatabase.cpp
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@ -125,7 +125,7 @@ void AP_OADatabase::init()
dist_to_radius_scalar = tanf(radians(MAX(_beam_width, 1.0f))); dist_to_radius_scalar = tanf(radians(MAX(_beam_width, 1.0f)));
if (!healthy()) { if (!healthy()) {
gcs().send_text(MAV_SEVERITY_INFO, "DB init failed . Sizes queue:%u, db:%u", (unsigned int)_queue.size, (unsigned int)_database.size); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB init failed . Sizes queue:%u, db:%u", (unsigned int)_queue.size, (unsigned int)_database.size);
delete _queue.items; delete _queue.items;
delete[] _database.items; delete[] _database.items;
return; return;
@ -365,6 +365,7 @@ bool AP_OADatabase::is_close_to_item_in_database(const uint16_t index, const OA_
return ((distance_sq < sq(item.radius)) || (distance_sq < sq(_database.items[index].radius))); return ((distance_sq < sq(item.radius)) || (distance_sq < sq(_database.items[index].radius)));
} }
#if HAL_GCS_ENABLED
// send ADSB_VEHICLE mavlink messages // send ADSB_VEHICLE mavlink messages
void AP_OADatabase::send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_ms) void AP_OADatabase::send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_ms)
{ {
@ -469,6 +470,7 @@ void AP_OADatabase::send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_
num_sent++; num_sent++;
} }
} }
#endif // HAL_GCS_ENABLED
// singleton instance // singleton instance
AP_OADatabase *AP_OADatabase::_singleton; AP_OADatabase *AP_OADatabase::_singleton;

3
libraries/AC_Avoidance/AP_OADijkstra.cpp
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@ -247,7 +247,8 @@ void AP_OADijkstra::report_error(AP_OADijkstra_Error error_id)
if ((error_id != AP_OADijkstra_Error::DIJKSTRA_ERROR_NONE) && if ((error_id != AP_OADijkstra_Error::DIJKSTRA_ERROR_NONE) &&
((error_id != _error_last_id) || ((now_ms - _error_last_report_ms) > OA_DIJKSTRA_ERROR_REPORTING_INTERVAL_MS))) { ((error_id != _error_last_id) || ((now_ms - _error_last_report_ms) > OA_DIJKSTRA_ERROR_REPORTING_INTERVAL_MS))) {
const char* error_msg = get_error_msg(error_id); const char* error_msg = get_error_msg(error_id);
gcs().send_text(MAV_SEVERITY_CRITICAL, "Dijkstra: %s", error_msg); (void)error_msg; // in case !HAL_GCS_ENABLED
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Dijkstra: %s", error_msg);
_error_last_id = error_id; _error_last_id = error_id;
_error_last_report_ms = now_ms; _error_last_report_ms = now_ms;
} }