ArduPlane: Make set position tgt depend on ext ctrl

* Set position target used to just be used in scripting, now it's used by DDS in external control Signed-off-by: Ryan Friedman <[email protected]>
ArduPilot · Dec 19, 2023 · 2a48d54 · 2a48d54
1 parent f7a55b4
commit 2a48d54
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -798,8 +798,8 @@ bool Plane::get_wp_crosstrack_error_m(float &xtrack_error) const
     return true;
 }
 
-#if AP_SCRIPTING_ENABLED
-// set target location (for use by scripting)
+#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
+// set target location (for use by external control and scripting)
 bool Plane::set_target_location(const Location &target_loc)
 {
     Location loc{target_loc};
@@ -816,7 +816,9 @@ bool Plane::set_target_location(const Location &target_loc)
     plane.set_guided_WP(loc);
     return true;
 }
+#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
 
+#if AP_SCRIPTING_ENABLED
 // set target location (for use by scripting)
 bool Plane::get_target_location(Location& target_loc)
 {

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -1245,8 +1245,10 @@ class Plane : public AP_Vehicle {
     void failsafe_check(void);
     bool is_landing() const override;
     bool is_taking_off() const override;
-#if AP_SCRIPTING_ENABLED
+#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
     bool set_target_location(const Location& target_loc) override;
+#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
+#if AP_SCRIPTING_ENABLED
     bool get_target_location(Location& target_loc) override;
     bool update_target_location(const Location &old_loc, const Location &new_loc) override;
     bool set_velocity_match(const Vector2f &velocity) override;