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GCS_MAVLink: fix periph-heavy compile errors with different things enabled

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This commit is contained in:
Tom Pittenger 2021-08-30 00:29:11 -07:00 committed by Tom Pittenger
parent 27fa2e776d
commit 6ac1b7daf2
2 changed files with 33 additions and 2 deletions
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2
libraries/GCS_MAVLink/GCS.cpp
View File

@ -210,7 +210,7 @@ void GCS::update_sensor_status_flags()
}
#endif
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_LOGGING_ENABLED)
#if !defined(HAL_BUILD_AP_PERIPH) || (defined(HAL_LOGGING_ENABLED) && (HAL_LOGGING_ENABLED == 1) && defined(HAL_PERIPH_ENABLE_GPS))
const AP_Logger &logger = AP::logger();
if (logger.logging_present() || gps.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING;

33
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1705,6 +1705,7 @@ void GCS_MAVLINK::send_rc_channels_raw() const
void GCS_MAVLINK::send_raw_imu()
{
#if HAL_INS_ENABLED
const AP_InertialSensor &ins = AP::ins();
const Compass &compass = AP::compass();
@ -1731,10 +1732,12 @@ void GCS_MAVLINK::send_raw_imu()
mag.z,
0, // we use SCALED_IMU and SCALED_IMU2 for other IMUs
int16_t(ins.get_temperature(0)*100));
#endif
}
void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_channel_t chan, uint32_t time_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag, int16_t temperature))
{
#if HAL_INS_ENABLED
const AP_InertialSensor &ins = AP::ins();
const Compass &compass = AP::compass();
@ -1770,6 +1773,7 @@ void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_chan
mag.y,
mag.z,
int16_t(ins.get_temperature(instance)*100));
#endif
}
@ -2394,6 +2398,7 @@ void GCS_MAVLINK::send_local_position() const
*/
void GCS_MAVLINK::send_vibration() const
{
#if HAL_INS_ENABLED
const AP_InertialSensor &ins = AP::ins();
Vector3f vibration = ins.get_vibration_levels();
@ -2407,6 +2412,7 @@ void GCS_MAVLINK::send_vibration() const
ins.get_accel_clip_count(0),
ins.get_accel_clip_count(1),
ins.get_accel_clip_count(2));
#endif
}
void GCS_MAVLINK::send_named_float(const char *name, float value) const
@ -3209,10 +3215,12 @@ void GCS_MAVLINK::handle_vision_speed_estimate(const mavlink_message_t &msg)
void GCS_MAVLINK::handle_command_ack(const mavlink_message_t &msg)
{
#if HAL_INS_ENABLED
AP_AccelCal *accelcal = AP::ins().get_acal();
if (accelcal != nullptr) {
accelcal->handleMessage(msg);
}
#endif
}
// allow override of RC channel values for complete GCS
@ -3285,11 +3293,15 @@ void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t &msg)
*/
MAV_RESULT GCS_MAVLINK::handle_fixed_mag_cal_yaw(const mavlink_command_long_t &packet)
{
#if COMPASS_CAL_ENABLED
Compass &compass = AP::compass();
return compass.mag_cal_fixed_yaw(packet.param1,
uint8_t(packet.param2),
packet.param3,
packet.param4);
#else
return MAV_RESULT_UNSUPPORTED;
#endif
}
void GCS_MAVLINK::handle_distance_sensor(const mavlink_message_t &msg)
@ -3653,12 +3665,14 @@ void GCS_MAVLINK::send_banner()
send_text(MAV_SEVERITY_INFO, "%s", banner_msg);
}
#if HAL_INS_ENABLED
// output any fast sampling status messages
for (uint8_t i = 0; i < INS_MAX_BACKENDS; i++) {
if (AP::ins().get_output_banner(i, banner_msg, sizeof(banner_msg))) {
send_text(MAV_SEVERITY_INFO, "%s", banner_msg);
}
}
#endif
}
@ -3724,12 +3738,16 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(const mavlin
bool GCS_MAVLINK::calibrate_gyros()
{
#if HAL_INS_ENABLED
AP::ins().init_gyro();
if (!AP::ins().gyro_calibrated_ok_all()) {
return false;
}
AP::ahrs().reset_gyro_drift();
return true;
#else
return false;
#endif
}
MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration_baro()
@ -3749,6 +3767,8 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration_baro()
MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{
MAV_RESULT ret = MAV_RESULT_UNSUPPORTED;
EXPECT_DELAY_MS(30000);
if (is_equal(packet.param1,1.0f)) {
if (!calibrate_gyros()) {
@ -3761,6 +3781,7 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_comm
return _handle_command_preflight_calibration_baro();
}
#if HAL_INS_ENABLED
if (is_equal(packet.param5,1.0f)) {
// start with gyro calibration
if (!calibrate_gyros()) {
@ -3795,12 +3816,12 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_comm
compass to be written as valid. This is useful when reloading
parameters after a full parameter erase
*/
MAV_RESULT ret = MAV_RESULT_UNSUPPORTED;
if (is_equal(packet.param5,76.0f)) {
// force existing accel calibration to be accepted as valid
AP::ins().force_save_calibration();
ret = MAV_RESULT_ACCEPTED;
}
#endif
if (is_equal(packet.param2,76.0f)) {
// force existing compass calibration to be accepted as valid
@ -3930,7 +3951,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_long_
MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_long_t &packet)
{
#if COMPASS_CAL_ENABLED
return AP::compass().handle_mag_cal_command(packet);
#else
return MAV_RESULT_UNSUPPORTED;
#endif
}
MAV_RESULT GCS_MAVLINK::handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet)
@ -4050,11 +4075,15 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_sprayer(const mavlink_command_long_t &
MAV_RESULT GCS_MAVLINK::handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet)
{
#if HAL_INS_ENABLED
if (AP::ins().get_acal() == nullptr ||
!AP::ins().get_acal()->gcs_vehicle_position(packet.param1)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
#else
return MAV_RESULT_UNSUPPORTED;
#endif
}
MAV_RESULT GCS_MAVLINK::handle_command_mount(const mavlink_command_long_t &packet)
@ -4921,12 +4950,14 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
ret = try_send_mission_message(id);
break;
#if COMPASS_CAL_ENABLED
case MSG_MAG_CAL_PROGRESS:
ret = AP::compass().send_mag_cal_progress(*this);
break;
case MSG_MAG_CAL_REPORT:
ret = AP::compass().send_mag_cal_report(*this);
break;
#endif
case MSG_BATTERY_STATUS:
send_battery_status();