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Copter: correct compilation when precland is disabled

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Closes #8098
This commit is contained in:
Peter Barker 2018-04-06 23:21:42 +10:00 committed by Randy Mackay
parent 8bbb87de3f
commit d0425c7b2f
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/mode.cpp
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@ -399,9 +399,9 @@ int32_t Copter::Mode::get_alt_above_ground(void)
void Copter::Mode::land_run_vertical_control(bool pause_descent)
{
#if PRECISION_LANDING == ENABLED
AC_PrecLand &precland = copter.precland;
#if PRECISION_LANDING == ENABLED
const bool navigating = pos_control->is_active_xy();
bool doing_precision_landing = !ap.land_repo_active && precland.target_acquired() && navigating;
#else
@ -445,7 +445,6 @@ void Copter::Mode::land_run_vertical_control(bool pause_descent)
void Copter::Mode::land_run_horizontal_control()
{
AC_PrecLand &precland = copter.precland;
LowPassFilterFloat &rc_throttle_control_in_filter = copter.rc_throttle_control_in_filter;
AP_Vehicle::MultiCopter &aparm = copter.aparm;
@ -486,6 +485,7 @@ void Copter::Mode::land_run_horizontal_control()
}
#if PRECISION_LANDING == ENABLED
AC_PrecLand &precland = copter.precland;
bool doing_precision_landing = !ap.land_repo_active && precland.target_acquired();
// run precision landing
if (doing_precision_landing) {