sitl 调整

libraries/AP_HAL/AP_HAL_Boards.h

@@ -161,9 +161,14 @@
 #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
 #endif
 
+
 #ifndef HAL_WITH_UAVCAN
+    #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        #define HAL_WITH_UAVCAN 0
+    #else
         #define HAL_WITH_UAVCAN 1
     #endif
+#endif
 
 #ifndef HAL_RCINPUT_WITH_AP_RADIO
 #define HAL_RCINPUT_WITH_AP_RADIO 0

libraries/AP_Proximity/AP_Proximity.cpp

@@ -337,13 +337,14 @@ void AP_Proximity::detect_instance(uint8_t instance)
             return;
         }
         break;
-#if HAL_WITH_UAVCAN
  case Type::UAVCAN:
+#if HAL_WITH_UAVCAN
         state[instance].instance = instance;
         // drivers[instance] = new AP_Proximity_UAVCAN(*this, state[instance]);
         drivers[instance] = AP_Proximity_UAVCAN::probe(*this, state[instance]);
         return;
 #endif
+        break;
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     case Type::SITL:
         state[instance].instance = instance;