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AP_Compass: allow more libraries to compile with no HAL_GCS_ENABLED

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Peter Barker 2023-09-02 15:21:34 +10:00 committed by Peter Barker
parent ffe46b760e
commit 275a667d41
2 changed files with 13 additions and 11 deletions
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20
libraries/AP_Compass/AP_Compass_Calibration.cpp
View File

@ -57,7 +57,7 @@ bool Compass::_start_calibration(uint8_t i, bool retry, float delay)
#if COMPASS_MAX_INSTANCES > 1 #if COMPASS_MAX_INSTANCES > 1
if (_priority_did_list[prio] != _priority_did_stored_list[prio]) { if (_priority_did_list[prio] != _priority_did_stored_list[prio]) {
gcs().send_text(MAV_SEVERITY_ERROR, "Compass cal requires reboot after priority change"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Compass cal requires reboot after priority change");
return false; return false;
} }
#endif #endif
@ -65,14 +65,14 @@ bool Compass::_start_calibration(uint8_t i, bool retry, float delay)
if (_calibrator[prio] == nullptr) { if (_calibrator[prio] == nullptr) {
_calibrator[prio] = new CompassCalibrator(); _calibrator[prio] = new CompassCalibrator();
if (_calibrator[prio] == nullptr) { if (_calibrator[prio] == nullptr) {
gcs().send_text(MAV_SEVERITY_ERROR, "Compass cal object not initialised"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Compass cal object not initialised");
return false; return false;
} }
} }
if (option_set(Option::CAL_REQUIRE_GPS)) { if (option_set(Option::CAL_REQUIRE_GPS)) {
if (AP::gps().status() < AP_GPS::GPS_OK_FIX_2D) { if (AP::gps().status() < AP_GPS::GPS_OK_FIX_2D) {
gcs().send_text(MAV_SEVERITY_ERROR, "Compass cal requires GPS lock"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Compass cal requires GPS lock");
return false; return false;
} }
} }
@ -98,7 +98,7 @@ bool Compass::_start_calibration(uint8_t i, bool retry, float delay)
if (!_cal_thread_started) { if (!_cal_thread_started) {
_cal_requires_reboot = true; _cal_requires_reboot = true;
if (!hal.scheduler->thread_create(FUNCTOR_BIND(this, &Compass::_update_calibration_trampoline, void), "compasscal", 2048, AP_HAL::Scheduler::PRIORITY_IO, 0)) { if (!hal.scheduler->thread_create(FUNCTOR_BIND(this, &Compass::_update_calibration_trampoline, void), "compasscal", 2048, AP_HAL::Scheduler::PRIORITY_IO, 0)) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "CompassCalibrator: Cannot start compass thread."); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "CompassCalibrator: Cannot start compass thread.");
return false; return false;
} }
_cal_thread_started = true; _cal_thread_started = true;
@ -240,6 +240,7 @@ bool Compass::_accept_calibration_mask(uint8_t mask)
return success; return success;
} }
#if HAL_GCS_ENABLED
bool Compass::send_mag_cal_progress(const GCS_MAVLINK& link) bool Compass::send_mag_cal_progress(const GCS_MAVLINK& link)
{ {
const mavlink_channel_t chan = link.get_chan(); const mavlink_channel_t chan = link.get_chan();
@ -329,6 +330,7 @@ bool Compass::send_mag_cal_report(const GCS_MAVLINK& link)
} }
return true; return true;
} }
#endif
bool Compass::is_calibrating() const bool Compass::is_calibrating() const
{ {
@ -379,7 +381,7 @@ MAV_RESULT Compass::handle_mag_cal_command(const mavlink_command_int_t &packet)
case MAV_CMD_DO_START_MAG_CAL: { case MAV_CMD_DO_START_MAG_CAL: {
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
if (hal.util->get_soft_armed()) { if (hal.util->get_soft_armed()) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Disarm to allow compass calibration"); GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Disarm to allow compass calibration");
result = MAV_RESULT_FAILED; result = MAV_RESULT_FAILED;
break; break;
} }
@ -508,7 +510,7 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
// get AHRS position. If unavailable then try GPS location // get AHRS position. If unavailable then try GPS location
if (!AP::ahrs().get_location(loc)) { if (!AP::ahrs().get_location(loc)) {
if (AP::gps().status() < AP_GPS::GPS_OK_FIX_3D) { if (AP::gps().status() < AP_GPS::GPS_OK_FIX_3D) {
gcs().send_text(MAV_SEVERITY_ERROR, "Mag: no position available"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag: no position available");
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
loc = AP::gps().location(); loc = AP::gps().location();
@ -522,7 +524,7 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
float declination; float declination;
float inclination; float inclination;
if (!AP_Declination::get_mag_field_ef(lat_deg, lon_deg, intensity, declination, inclination)) { if (!AP_Declination::get_mag_field_ef(lat_deg, lon_deg, intensity, declination, inclination)) {
gcs().send_text(MAV_SEVERITY_ERROR, "Mag: WMM table error"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag: WMM table error");
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
@ -547,13 +549,13 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
continue; continue;
} }
if (!healthy(i)) { if (!healthy(i)) {
gcs().send_text(MAV_SEVERITY_ERROR, "Mag[%u]: unhealthy\n", i); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag[%u]: unhealthy\n", i);
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
Vector3f measurement; Vector3f measurement;
if (!get_uncorrected_field(i, measurement)) { if (!get_uncorrected_field(i, measurement)) {
gcs().send_text(MAV_SEVERITY_ERROR, "Mag[%u]: bad uncorrected field", i); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag[%u]: bad uncorrected field", i);
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }

4
libraries/AP_Compass/Compass_learn.cpp
View File

@ -15,7 +15,7 @@ extern const AP_HAL::HAL &hal;
CompassLearn::CompassLearn(Compass &_compass) : CompassLearn::CompassLearn(Compass &_compass) :
compass(_compass) compass(_compass)
{ {
gcs().send_text(MAV_SEVERITY_INFO, "CompassLearn: Initialised"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "CompassLearn: Initialised");
} }
// accuracy threshold applied for GSF yaw estimate // accuracy threshold applied for GSF yaw estimate
@ -64,7 +64,7 @@ void CompassLearn::update(void)
if (result == MAV_RESULT_ACCEPTED) { if (result == MAV_RESULT_ACCEPTED) {
AP_Notify::flags.compass_cal_running = false; AP_Notify::flags.compass_cal_running = false;
compass.set_learn_type(Compass::LEARN_NONE, true); compass.set_learn_type(Compass::LEARN_NONE, true);
gcs().send_text(MAV_SEVERITY_INFO, "CompassLearn: Finished"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "CompassLearn: Finished");
} }
} }