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AP_AHRS: allow compilation when GPS not available

This commit is contained in:
Peter Barker 2023-09-27 16:36:14 +10:00 committed by Andrew Tridgell
parent 61be71eea6
commit fa4c7d8eb0
1 changed files with 5 additions and 3 deletions
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8
libraries/AP_AHRS/AP_AHRS.cpp
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@ -831,7 +831,7 @@ bool AP_AHRS::airspeed_sensor_enabled(void) const
// if we have an estimate
bool AP_AHRS::_airspeed_estimate(float &airspeed_ret) const
{
#if AP_AIRSPEED_ENABLED
#if AP_AIRSPEED_ENABLED && AP_GPS_ENABLED
if (airspeed_sensor_enabled()) {
uint8_t idx = get_active_airspeed_index();
airspeed_ret = AP::airspeed()->get_airspeed(idx);
@ -1743,13 +1743,15 @@ void AP_AHRS::get_relative_position_D_home(float &posD) const
float originD;
if (!get_relative_position_D_origin(originD) ||
!_get_origin(originLLH)) {
#if AP_GPS_ENABLED
const auto &gps = AP::gps();
if (_gps_use == GPSUse::EnableWithHeight &&
gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
posD = (get_home().alt - gps.location().alt) * 0.01;
} else {
posD = -AP::baro().get_altitude();
return;
}
#endif
posD = -AP::baro().get_altitude();
return;
}