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Copter: mode_auto: remove more code based on defines

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Co-authored-by: murata <ma2maru@gmail.com>
This commit is contained in:
Peter Barker 2024-09-21 19:47:10 +10:00 committed by Peter Barker
parent eb283ce607
commit 6e760a2b94
1 changed files with 12 additions and 2 deletions
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14
ArduCopter/mode_auto.cpp
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@ -778,10 +778,12 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
do_roi(cmd);
break;
#if HAL_MOUNT_ENABLED
case MAV_CMD_DO_MOUNT_CONTROL: // 205
// point the camera to a specified angle
do_mount_control(cmd);
break;
#endif
#if AC_NAV_GUIDED
case MAV_CMD_DO_GUIDED_LIMITS: // 220 accept guided mode limits
@ -998,10 +1000,18 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_ROI:
#if HAL_MOUNT_ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
#endif
#if AC_NAV_GUIDED
case MAV_CMD_DO_GUIDED_LIMITS:
#endif
#if AP_FENCE_ENABLED
case MAV_CMD_DO_FENCE_ENABLE:
#endif
#if AP_WINCH_ENABLED
case MAV_CMD_DO_WINCH:
#endif
case MAV_CMD_DO_RETURN_PATH_START:
case MAV_CMD_DO_LAND_START:
cmd_complete = true;
@ -1957,10 +1967,10 @@ void ModeAuto::do_roi(const AP_Mission::Mission_Command& cmd)
auto_yaw.set_roi(cmd.content.location);
}
#if HAL_MOUNT_ENABLED
// point the camera to a specified angle
void ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd)
{
#if HAL_MOUNT_ENABLED
// if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
if ((copter.camera_mount.get_mount_type() != AP_Mount::Type::None) &&
!copter.camera_mount.has_pan_control()) {
@ -1968,8 +1978,8 @@ void ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd)
}
// pass the target angles to the camera mount
copter.camera_mount.set_angle_target(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw, false);
#endif
}
#endif // HAL_MOUNT_ENABLED
#if AP_WINCH_ENABLED
// control winch based on mission command