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GCS_MAVLink: add and use AP_AHRS_ENABLED

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Peter Barker 2023-06-20 16:28:14 +10:00 committed by Peter Barker
parent 55eec0ff09
commit 42e42dc991
1 changed files with 2 additions and 2 deletions
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4
libraries/GCS_MAVLink/GCS.cpp
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@ -149,7 +149,7 @@ void GCS::update_sensor_status_flags()
control_sensors_enabled = 0; control_sensors_enabled = 0;
control_sensors_health = 0; control_sensors_health = 0;
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_AHRS) #if AP_AHRS_ENABLED
AP_AHRS &ahrs = AP::ahrs(); AP_AHRS &ahrs = AP::ahrs();
const AP_InertialSensor &ins = AP::ins(); const AP_InertialSensor &ins = AP::ins();
@ -206,7 +206,7 @@ void GCS::update_sensor_status_flags()
} }
#endif #endif
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_AHRS) #if AP_AHRS_ENABLED
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_GYRO; control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_GYRO;
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_ACCEL; control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_ACCEL;
if (!ins.calibrating()) { if (!ins.calibrating()) {