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Copter: correct compilation when AUTO mode is disabled

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This commit is contained in:
Tatsuya Yamaguchi 2021-08-16 16:14:14 +09:00 committed by Randy Mackay
parent 59a158d7be
commit 1f8df7e5ff
1 changed files with 4 additions and 2 deletions
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6
ArduCopter/events.cpp
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@ -346,9 +346,12 @@ void Copter::set_mode_SmartRTL_or_RTL(ModeReason reason)
// This can come from failsafe or RC option
void Copter::set_mode_auto_do_land_start_or_RTL(ModeReason reason)
{
#if MODE_AUTO_ENABLED == ENABLED
if (copter.mode_auto.jump_to_landing_sequence_auto_RTL(reason)) {
AP_Notify::events.failsafe_mode_change = 1;
return;
}
#endif
gcs().send_text(MAV_SEVERITY_WARNING, "Trying RTL Mode");
set_mode_RTL_or_land_with_pause(reason);
@ -400,11 +403,10 @@ void Copter::do_failsafe_action(Failsafe_Action action, ModeReason reason){
#else
arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);
#endif
break;
}
break;
case Failsafe_Action_Auto_DO_LAND_START:
set_mode_auto_do_land_start_or_RTL(reason);
AP_Notify::events.failsafe_mode_change = 1;
break;
}