AP_AHRS: control for IMUs

ArduPilot · Sep 12, 2024 · eda3cb6 · eda3cb6
1 parent c652680
commit eda3cb6
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -342,7 +342,7 @@ void AP_AHRS::update_state(void)
 {
     const uint8_t primary_gyro = _get_primary_gyro_index();
     const uint8_t primary_accel = _get_primary_accel_index();
-
+#if AP_INERTIALSENSOR_ENABLED
     // tell the IMUS about primary changes
     if (primary_gyro != state.primary_gyro) {
         AP::ins().set_primary_gyro(primary_gyro);
@@ -351,7 +351,7 @@ void AP_AHRS::update_state(void)
     if (primary_accel != state.primary_accel) {
         AP::ins().set_primary_accel(primary_accel);
     }
-
+#endif
     state.primary_IMU = _get_primary_IMU_index();
     state.primary_gyro = primary_gyro;
     state.primary_accel = primary_accel;