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AP_Hott_Telem: add define AP_AIRSPEED_ENABLED

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Josh Henderson 2021-11-01 04:16:11 -04:00 committed by Andrew Tridgell
parent 65d4b6377e
commit 9355fcd6b3
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_Hott_Telem/AP_Hott_Telem.cpp
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@ -161,6 +161,7 @@ void AP_Hott_Telem::send_EAM(void)
msg.electric_sec = t % 60U; msg.electric_sec = t % 60U;
} }
#if AP_AIRSPEED_ENABLED
AP_Airspeed *airspeed = AP_Airspeed::get_singleton(); AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
if (airspeed && airspeed->healthy()) { if (airspeed && airspeed->healthy()) {
msg.speed = uint16_t(airspeed->get_airspeed() * 3.6 + 0.5); msg.speed = uint16_t(airspeed->get_airspeed() * 3.6 + 0.5);
@ -168,6 +169,10 @@ void AP_Hott_Telem::send_EAM(void)
WITH_SEMAPHORE(ahrs.get_semaphore()); WITH_SEMAPHORE(ahrs.get_semaphore());
msg.speed = uint16_t(ahrs.groundspeed() * 3.6 + 0.5); msg.speed = uint16_t(ahrs.groundspeed() * 3.6 + 0.5);
} }
#else
WITH_SEMAPHORE(ahrs.get_semaphore());
msg.speed = uint16_t(ahrs.groundspeed() * 3.6 + 0.5);
#endif
send_packet((const uint8_t *)&msg, sizeof(msg)); send_packet((const uint8_t *)&msg, sizeof(msg));
} }