support MAV_CMD_EXTERNAL_WIND_ESTIMATE (move if)

ArduPilot · Aug 20, 2024 · c57caf4 · c57caf4
1 parent ec5c124
commit c57caf4
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
@@ -131,11 +131,11 @@ class AP_AHRS {
 #endif
     }
 
-    void external_wind_estimate(float speed, float direction) {
 #if AP_AHRS_EXTERNAL_WIND_ESTIMATE_ENABLED
+    void external_wind_estimate(float speed, float direction) {
         dcm.external_wind_estimate(speed, direction);
-#endif
     }
+#endif
 
     // return the parameter AHRS_WIND_MAX in metres per second
     uint8_t get_max_wind() const {

diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -1028,6 +1028,7 @@ void AP_AHRS_DCM::estimate_wind(void)
 #endif
 }
 
+#ifdef AP_AHRS_EXTERNAL_WIND_ESTIMATE_ENABLED
 void AP_AHRS_DCM::external_wind_estimate(float speed, float direction) {
     Vector3f wind = Vector3f();
     wind.z = 0;
@@ -1037,6 +1038,7 @@ void AP_AHRS_DCM::external_wind_estimate(float speed, float direction) {
 
     _wind = wind;
 }
+#endif
 
 // return our current position estimate using
 // dead-reckoning or GPS