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https://github.com/ArduPilot/ardupilot
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AP_Vehicle: correct compilation with HAL_INS_ACCELCAL_ENABLED false
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parent
38a1c4412a
commit
fe863b9567
libraries/AP_Vehicle
@ -302,7 +302,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
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#if OSD_ENABLED
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SCHED_TASK(publish_osd_info, 1, 10, 240),
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#endif
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#if HAL_INS_ACCELCAL_ENABLED
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SCHED_TASK(accel_cal_update, 10, 100, 245),
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#endif
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#if HAL_EFI_ENABLED
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SCHED_TASK_CLASS(AP_EFI, &vehicle.efi, update, 10, 200, 250),
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#endif
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@ -482,6 +484,8 @@ void AP_Vehicle::get_osd_roll_pitch_rad(float &roll, float &pitch) const
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#endif
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#if HAL_INS_ACCELCAL_ENABLED
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#ifndef HAL_CAL_ALWAYS_REBOOT
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// allow for forced reboot after accelcal
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#define HAL_CAL_ALWAYS_REBOOT 0
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@ -492,7 +496,6 @@ void AP_Vehicle::get_osd_roll_pitch_rad(float &roll, float &pitch) const
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*/
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void AP_Vehicle::accel_cal_update()
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{
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#if HAL_INS_ENABLED
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if (hal.util->get_soft_armed()) {
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return;
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}
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@ -510,8 +513,8 @@ void AP_Vehicle::accel_cal_update()
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hal.scheduler->reboot(false);
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}
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#endif
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#endif // HAL_INS_ENABLED
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}
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#endif // HAL_INS_ACCELCAL_ENABLED
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AP_Vehicle *AP_Vehicle::_singleton = nullptr;
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@ -386,8 +386,10 @@ protected:
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void publish_osd_info();
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#endif
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#if HAL_INS_ACCELCAL_ENABLED
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// update accel calibration
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void accel_cal_update();
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#endif
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ModeReason control_mode_reason = ModeReason::UNKNOWN;
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