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GCS_MAVLink: correct compilation when AP_MISSION_ENABLED is false

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Peter Barker 2023-12-09 15:09:55 +11:00 committed by Peter Barker
parent 6d2c857db9
commit 78087da03c
3 changed files with 13 additions and 3 deletions
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3
libraries/GCS_MAVLink/GCS.h
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@ -643,9 +643,10 @@ protected:
virtual MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
virtual MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg);
#if AP_MISSION_ENABLED
virtual MAV_RESULT handle_command_do_set_mission_current(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_jump_tag(const mavlink_command_int_t &packet);
#endif
MAV_RESULT handle_command_battery_reset(const mavlink_command_int_t &packet);
void handle_command_long(const mavlink_message_t &msg);
MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_int_t &packet);

10
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4497,6 +4497,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_run_prearm_checks(const mavlink_command_i
return MAV_RESULT_ACCEPTED;
}
#if AP_MISSION_ENABLED
// changes the current waypoint; at time of writing GCS
// implementations use the mavlink message MISSION_SET_CURRENT to set
// the current waypoint, rather than this DO command. It is hoped we
@ -4555,6 +4556,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_jump_tag(const mavlink_command_int_t &
return MAV_RESULT_ACCEPTED;
}
#endif
#if AP_BATTERY_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_int_t &packet)
@ -5116,11 +5118,13 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
return handle_command_do_gripper(packet);
#endif
#if AP_MISSION_ENABLED
case MAV_CMD_DO_JUMP_TAG:
return handle_command_do_jump_tag(packet);
case MAV_CMD_DO_SET_MISSION_CURRENT:
return handle_command_do_set_mission_current(packet);
#endif
case MAV_CMD_DO_SET_MODE:
return handle_command_do_set_mode(packet);
@ -5304,6 +5308,7 @@ void GCS::try_send_queued_message_for_type(MAV_MISSION_TYPE type) const {
bool GCS_MAVLINK::try_send_mission_message(const enum ap_message id)
{
switch (id) {
#if AP_MISSION_ENABLED
case MSG_CURRENT_WAYPOINT:
{
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
@ -5321,6 +5326,7 @@ bool GCS_MAVLINK::try_send_mission_message(const enum ap_message id)
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
gcs().try_send_queued_message_for_type(MAV_MISSION_TYPE_MISSION);
break;
#endif
#if HAL_RALLY_ENABLED
case MSG_NEXT_MISSION_REQUEST_RALLY:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
@ -6721,11 +6727,13 @@ void GCS_MAVLINK::send_high_latency2() const
const int8_t battery_remaining = battery_remaining_pct(AP_BATT_PRIMARY_INSTANCE);
#endif
AP_Mission *mission = AP::mission();
uint16_t current_waypoint = 0;
#if AP_MISSION_ENABLED
AP_Mission *mission = AP::mission();
if (mission != nullptr) {
current_waypoint = mission->get_current_nav_index();
}
#endif
uint32_t present;
uint32_t enabled;

3
libraries/GCS_MAVLink/GCS_config.h
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@ -2,6 +2,7 @@
#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_Relay/AP_Relay_config.h>
#include <AP_Mission/AP_Mission_config.h>
#ifndef HAL_GCS_ENABLED
#define HAL_GCS_ENABLED 1
@ -25,7 +26,7 @@
// The command was added to the spec in January 2019 and to MAVLink in
// ArduPilot in 4.1.x
#ifndef AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
#define AP_MAVLINK_MISSION_SET_CURRENT_ENABLED 1
#define AP_MAVLINK_MISSION_SET_CURRENT_ENABLED AP_MISSION_ENABLED
#endif
// AUTOPILOT_VERSION_REQUEST is slated to be removed; an instance of