Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_Avoidance: allow more libraries to compile with no HAL_GCS_ENABLED

Browse Source
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AC_Avoidance/AP_OADatabase.cpp
View File

@ -125,7 +125,7 @@ void AP_OADatabase::init()
dist_to_radius_scalar = tanf(radians(MAX(_beam_width, 1.0f)));
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[] _database.items;
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)));
}
#if HAL_GCS_ENABLED
// send ADSB_VEHICLE mavlink messages
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++;
}
}
#endif // HAL_GCS_ENABLED
// singleton instance
AP_OADatabase *AP_OADatabase::_singleton;

3
libraries/AC_Avoidance/AP_OADijkstra.cpp
View File

@ -247,7 +247,8 @@ void AP_OADijkstra::report_error(AP_OADijkstra_Error error_id)
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))) {
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_report_ms = now_ms;
}