AP_DAL: cope with AP_BARO_ENABLED being 0

ArduPilot · Sep 1, 2024 · 828c897 · 828c897
1 parent 4d06516
commit 828c897
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Showing 4 changed files with 24 additions and 0 deletions.
diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp
@@ -65,7 +65,9 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
     _RFRN.lat = _home.lat;
     _RFRN.lng = _home.lng;
     _RFRN.alt = _home.alt;
+#if AP_BARO_ENABLED
     _RFRN.EAS2TAS = ahrs.get_EAS2TAS();
+#endif
     _RFRN.vehicle_class = (uint8_t)ahrs.get_vehicle_class();
     _RFRN.fly_forward = ahrs.get_fly_forward();
     _RFRN.takeoff_expected = ahrs.get_takeoff_expected();
@@ -84,7 +86,9 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
     _rotation_vehicle_body_to_autopilot_body = ahrs.get_rotation_vehicle_body_to_autopilot_body();
 
     _ins.start_frame();
+#if AP_BARO_ENABLED
     _baro.start_frame();
+#endif
     _gps.start_frame();
     _compass.start_frame();
     if (_airspeed) {

diff --git a/libraries/AP_DAL/AP_DAL.h b/libraries/AP_DAL/AP_DAL.h
@@ -128,7 +128,9 @@ class AP_DAL {
     void *malloc_type(size_t size, enum Memory_Type mem_type) const;
 
     AP_DAL_InertialSensor &ins() { return _ins; }
+#if AP_BARO_ENABLED
     AP_DAL_Baro &baro() { return _baro; }
+#endif
     AP_DAL_GPS &gps() { return _gps; }
 
 #if AP_RANGEFINDER_ENABLED
@@ -257,10 +259,14 @@ class AP_DAL {
     }
 
     void handle_message(const log_RBRH &msg) {
+#if AP_BARO_ENABLED
         _baro.handle_message(msg);
+#endif
     }
     void handle_message(const log_RBRI &msg) {
+#if AP_BARO_ENABLED
         _baro.handle_message(msg);
+#endif
     }
 
     void handle_message(const log_RRNH &msg) {
@@ -363,7 +369,9 @@ class AP_DAL {
     uint32_t _last_imu_time_us;
 
     AP_DAL_InertialSensor _ins;
+#if AP_BARO_ENABLED
     AP_DAL_Baro _baro;
+#endif
     AP_DAL_GPS _gps;
 #if AP_RANGEFINDER_ENABLED
     AP_DAL_RangeFinder *_rangefinder;

diff --git a/libraries/AP_DAL/AP_DAL_Baro.cpp b/libraries/AP_DAL/AP_DAL_Baro.cpp
@@ -1,3 +1,7 @@
+#include <AP_Baro/AP_Baro_config.h>
+
+#if AP_BARO_ENABLED
+
 #include "AP_DAL_Baro.h"
 
 #include <AP_Logger/AP_Logger.h>
@@ -33,3 +37,5 @@ void AP_DAL_Baro::update_calibration()
 {
     AP::baro().update_calibration();
 }
+
+#endif  // AP_BARO_ENABLED
diff --git a/libraries/AP_DAL/AP_DAL_Baro.h b/libraries/AP_DAL/AP_DAL_Baro.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include <AP_Baro/AP_Baro_config.h>
+
+#if AP_BARO_ENABLED
+
 #include <AP_Baro/AP_Baro.h>
 
 #include <AP_Logger/LogStructure.h>
@@ -51,3 +55,5 @@ class AP_DAL_Baro {
     struct log_RBRI _RBRI[BARO_MAX_INSTANCES];
 };
 
+
+#endif  // AP_BARO_ENABLED