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Copter: correct compilation when precland is disabled 

Closes #8098
mission-4.1.18
Peter Barker 7 years ago committed by Randy Mackay
parent
8bbb87de3f
commit
d0425c7b2f
1 changed files with 2 additions and 2 deletions
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  1. 4
      ArduCopter/mode.cpp

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) void Copter::Mode::land_run_vertical_control(bool pause_descent)
{ {
#if PRECISION_LANDING == ENABLED
AC_PrecLand &precland = copter.precland; AC_PrecLand &precland = copter.precland;
#if PRECISION_LANDING == ENABLED
const bool navigating = pos_control->is_active_xy(); const bool navigating = pos_control->is_active_xy();
bool doing_precision_landing = !ap.land_repo_active && precland.target_acquired() && navigating; bool doing_precision_landing = !ap.land_repo_active && precland.target_acquired() && navigating;
#else #else
@ -445,7 +445,6 @@ void Copter::Mode::land_run_vertical_control(bool pause_descent)
void Copter::Mode::land_run_horizontal_control() void Copter::Mode::land_run_horizontal_control()
{ {
AC_PrecLand &precland = copter.precland;
LowPassFilterFloat &rc_throttle_control_in_filter = copter.rc_throttle_control_in_filter; LowPassFilterFloat &rc_throttle_control_in_filter = copter.rc_throttle_control_in_filter;
AP_Vehicle::MultiCopter &aparm = copter.aparm; AP_Vehicle::MultiCopter &aparm = copter.aparm;
@ -486,6 +485,7 @@ void Copter::Mode::land_run_horizontal_control()
} }
#if PRECISION_LANDING == ENABLED #if PRECISION_LANDING == ENABLED
AC_PrecLand &precland = copter.precland;
bool doing_precision_landing = !ap.land_repo_active && precland.target_acquired(); bool doing_precision_landing = !ap.land_repo_active && precland.target_acquired();
// run precision landing // run precision landing
if (doing_precision_landing) { if (doing_precision_landing) {

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