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GCS_MAVLink: correct compilation with HAL_INS_ACCELCAL_ENABLED false

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This commit is contained in:
Peter Barker 2022-03-18 18:02:30 +11:00 committed by Andrew Tridgell
parent fe863b9567
commit f1ec657c41
1 changed files with 8 additions and 6 deletions
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14
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3329,7 +3329,7 @@ void GCS_MAVLINK::handle_vision_speed_estimate(const mavlink_message_t &msg)
void GCS_MAVLINK::handle_command_ack(const mavlink_message_t &msg)
{
#if HAL_INS_ENABLED
#if HAL_INS_ACCELCAL_ENABLED
AP_AccelCal *accelcal = AP::ins().get_acal();
if (accelcal != nullptr) {
accelcal->handleMessage(msg);
@ -3959,7 +3959,7 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_comm
rc().calibrating(is_positive(packet.param4));
#if HAL_INS_ENABLED
#if HAL_INS_ACCELCAL_ENABLED
if (is_equal(packet.param5,1.0f)) {
// start with gyro calibration
if (!calibrate_gyros()) {
@ -3970,7 +3970,9 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_comm
AP::ins().get_acal()->start(this);
return MAV_RESULT_ACCEPTED;
}
#endif
#if HAL_INS_ENABLED
if (is_equal(packet.param5,2.0f)) {
if (!calibrate_gyros()) {
return MAV_RESULT_FAILED;
@ -4253,18 +4255,16 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_sprayer(const mavlink_command_long_t &
}
#endif
#if HAL_INS_ACCELCAL_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet)
{
#if HAL_INS_ENABLED
if (AP::ins().get_acal() == nullptr ||
!AP::ins().get_acal()->gcs_vehicle_position(packet.param1)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
#else
return MAV_RESULT_UNSUPPORTED;
#endif
}
#endif // HAL_INS_ACCELCAL_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_mount(const mavlink_command_long_t &packet)
{
@ -4339,9 +4339,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
switch (packet.command) {
#if HAL_INS_ACCELCAL_ENABLED
case MAV_CMD_ACCELCAL_VEHICLE_POS:
result = handle_command_accelcal_vehicle_pos(packet);
break;
#endif
case MAV_CMD_DO_SET_MODE:
result = handle_command_do_set_mode(packet);