AP_VisualOdom: correct compilation when AP_AHRS_ENABLED is off

e.g. CubeOrange-periph-heavy
rmackay9 · Jan 16, 2024 · 7e0ea05 · 7e0ea05
1 parent 7b5a4d9
commit 7e0ea05
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
@@ -56,13 +56,15 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
 
     // send to EKF
     const float time_delta_sec = packet.time_delta_usec * 1.0E-6;
+#if AP_AHRS_ENABLED
     AP::ahrs().writeBodyFrameOdom(packet.confidence,
                                   position_delta,
                                   angle_delta,
                                   time_delta_sec,
                                   now_ms,
                                   _frontend.get_delay_ms(),
                                   _frontend.get_pos_offset());
+#endif
 
     // log sensor data
     Write_VisualOdom(time_delta_sec,