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GCS_MAVLink: add and use AP_GPS_ENABLED

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Peter Barker 2023-06-20 16:40:34 +10:00 committed by Peter Barker
parent 6f292c02da
commit a6a691cce3
1 changed files with 2 additions and 2 deletions
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4
libraries/GCS_MAVLink/GCS.cpp
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@ -184,7 +184,7 @@ void GCS::update_sensor_status_flags()
}
#endif
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_GPS)
#if AP_GPS_ENABLED
const AP_GPS &gps = AP::gps();
if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
@ -226,7 +226,7 @@ void GCS::update_sensor_status_flags()
bool logging_present = logger.logging_present();
bool logging_enabled = logger.logging_enabled();
bool logging_healthy = !logger.logging_failed();
#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_GPS)
#if AP_GPS_ENABLED
// some GPS units do logging, so they have to be healthy too:
logging_present |= gps.logging_present();
logging_enabled |= gps.logging_enabled();