aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

GCS_MAVLink: correct compilation when AP_Vehicle disabled

Browse Source
This commit is contained in:
Peter Barker 2023-12-11 18:55:05 +11:00 committed by Peter Barker
parent 8e1fc60550
commit 6515df72f0
1 changed files with 13 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -71,6 +71,7 @@
#include "MissionItemProtocol_Fence.h" #include "MissionItemProtocol_Fence.h"
#include <AP_Notify/AP_Notify.h> #include <AP_Notify/AP_Notify.h>
#include <AP_Vehicle/AP_Vehicle_config.h>
#include <stdio.h> #include <stdio.h>
@ -656,7 +657,11 @@ void GCS_MAVLINK::send_mission_current(const class AP_Mission &mission, uint16_t
num_commands -= 1; num_commands -= 1;
} }
#if AP_VEHICLE_ENABLED
const uint8_t mission_mode = AP::vehicle()->current_mode_requires_mission() ? 1 : 0; const uint8_t mission_mode = AP::vehicle()->current_mode_requires_mission() ? 1 : 0;
#else
const uint8_t mission_mode = 0;
#endif
mavlink_msg_mission_current_send( mavlink_msg_mission_current_send(
chan, chan,
@ -2603,6 +2608,7 @@ void GCS_MAVLINK::handle_set_mode(const mavlink_message_t &msg)
MAV_RESULT GCS_MAVLINK::_set_mode_common(const MAV_MODE _base_mode, const uint32_t _custom_mode) MAV_RESULT GCS_MAVLINK::_set_mode_common(const MAV_MODE _base_mode, const uint32_t _custom_mode)
{ {
// only accept custom modes because there is no easy mapping from Mavlink flight modes to AC flight modes // only accept custom modes because there is no easy mapping from Mavlink flight modes to AC flight modes
#if AP_VEHICLE_ENABLED
if (uint32_t(_base_mode) & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) { if (uint32_t(_base_mode) & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
if (!AP::vehicle()->set_mode(_custom_mode, ModeReason::GCS_COMMAND)) { if (!AP::vehicle()->set_mode(_custom_mode, ModeReason::GCS_COMMAND)) {
// often we should be returning DENIED rather than FAILED // often we should be returning DENIED rather than FAILED
@ -2612,6 +2618,7 @@ MAV_RESULT GCS_MAVLINK::_set_mode_common(const MAV_MODE _base_mode, const uint32
} }
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
#endif
if (_base_mode == (MAV_MODE)MAV_MODE_FLAG_DECODE_POSITION_SAFETY) { if (_base_mode == (MAV_MODE)MAV_MODE_FLAG_DECODE_POSITION_SAFETY) {
// set the safety switch position. Must be in a command by itself // set the safety switch position. Must be in a command by itself
@ -3285,7 +3292,11 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_int_t &pac
// when packet.param1 == 3 we reboot to hold in bootloader // when packet.param1 == 3 we reboot to hold in bootloader
const bool hold_in_bootloader = is_equal(packet.param1, 3.0f); const bool hold_in_bootloader = is_equal(packet.param1, 3.0f);
#if AP_VEHICLE_ENABLED
AP::vehicle()->reboot(hold_in_bootloader); // not expected to return AP::vehicle()->reboot(hold_in_bootloader); // not expected to return
#else
hal.scheduler->reboot(hold_in_bootloader);
#endif
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
@ -5629,10 +5640,12 @@ void GCS_MAVLINK::send_autopilot_state_for_gimbal_device() const
// get vehicle earth-frame rotation rate targets // get vehicle earth-frame rotation rate targets
Vector3f rate_ef_targets; Vector3f rate_ef_targets;
#if AP_VEHICLE_ENABLED
const AP_Vehicle *vehicle = AP::vehicle(); const AP_Vehicle *vehicle = AP::vehicle();
if (vehicle != nullptr) { if (vehicle != nullptr) {
vehicle->get_rate_ef_targets(rate_ef_targets); vehicle->get_rate_ef_targets(rate_ef_targets);
} }
#endif
// get estimator flags // get estimator flags
uint16_t est_status_flags = 0; uint16_t est_status_flags = 0;