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Rover: correct compilation when camera disabled

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This commit is contained in:
Peter Barker 2017-01-02 15:21:14 +11:00 committed by Grant Morphett
parent 990d5fd0e5
commit 61430a51b3
2 changed files with 8 additions and 6 deletions
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4
APMrover2/Rover.h
View File

@ -464,8 +464,10 @@ private:
bool verify_RTL();
bool verify_wait_delay();
bool verify_within_distance();
#if CAMERA == ENABLED
void do_take_picture();
void log_picture();
#endif
void update_commands(void);
void delay(uint32_t ms);
void mavlink_delay(uint32_t ms);
@ -532,8 +534,10 @@ private:
void do_within_distance(const AP_Mission::Mission_Command& cmd);
void do_change_speed(const AP_Mission::Mission_Command& cmd);
void do_set_home(const AP_Mission::Mission_Command& cmd);
#if CAMERA == ENABLED
void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
void do_digicam_control(const AP_Mission::Mission_Command& cmd);
#endif
void do_set_reverse(const AP_Mission::Mission_Command& cmd);
void init_capabilities(void);
void rudder_arm_disarm_check();

10
APMrover2/commands_logic.cpp
View File

@ -455,10 +455,11 @@ void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
}
}
#if CAMERA == ENABLED
// do_digicam_configure Send Digicam Configure message with the camera library
void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
{
#if CAMERA == ENABLED
camera.configure(cmd.content.digicam_configure.shooting_mode,
cmd.content.digicam_configure.shutter_speed,
cmd.content.digicam_configure.aperture,
@ -466,13 +467,11 @@ void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
cmd.content.digicam_configure.exposure_type,
cmd.content.digicam_configure.cmd_id,
cmd.content.digicam_configure.engine_cutoff_time);
#endif
}
// do_digicam_control Send Digicam Control message with the camera library
void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
{
#if CAMERA == ENABLED
if (camera.control(cmd.content.digicam_control.session,
cmd.content.digicam_control.zoom_pos,
cmd.content.digicam_control.zoom_step,
@ -481,16 +480,13 @@ void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
cmd.content.digicam_control.cmd_id)) {
log_picture();
}
#endif
}
// do_take_picture - take a picture with the camera library
void Rover::do_take_picture()
{
#if CAMERA == ENABLED
camera.trigger_pic(true);
log_picture();
#endif
}
// log_picture - log picture taken and send feedback to GCS
@ -508,6 +504,8 @@ void Rover::log_picture()
}
}
#endif
void Rover::do_set_reverse(const AP_Mission::Mission_Command& cmd)
{
if (cmd.p1 == 1) {