diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp index 2f6737f7b0..77ac477eaa 100644 --- a/libraries/AP_Compass/AP_Compass.cpp +++ b/libraries/AP_Compass/AP_Compass.cpp @@ -1440,12 +1440,14 @@ bool Compass::is_replacement_mag(uint32_t devid) { return false; } +#if COMPASS_MAX_UNREG_DEV > 0 // Check that its not an unused additional mag for (uint8_t i = 0; i<COMPASS_MAX_UNREG_DEV; i++) { if (_previously_unreg_mag[i] == devid) { return false; } } +#endif // Check that its not previously setup mag for (StateIndex i(0); i<COMPASS_MAX_INSTANCES; i++) { @@ -1465,6 +1467,7 @@ void Compass::remove_unreg_dev_id(uint32_t devid) return; } +#if COMPASS_MAX_UNREG_DEV > 0 for (uint8_t i = 0; i<COMPASS_MAX_UNREG_DEV; i++) { if ((uint32_t)extra_dev_id[i] == devid) { extra_dev_id[i].set_and_save(0); @@ -1472,6 +1475,7 @@ void Compass::remove_unreg_dev_id(uint32_t devid) } } #endif +#endif } void Compass::_reset_compass_id() @@ -1486,7 +1490,7 @@ void Compass::_reset_compass_id() } if (!_get_state(i).registered) { _priority_did_stored_list[i].set_and_save(0); - gcs().send_text(MAV_SEVERITY_ALERT, "Mag: Compass #%d with DEVID %lu removed", uint8_t(i), (unsigned long)_priority_did_list[i]); + GCS_SEND_TEXT(MAV_SEVERITY_ALERT, "Mag: Compass #%d with DEVID %lu removed", uint8_t(i), (unsigned long)_priority_did_list[i]); } }