added AP_PERIPH check in rangefinder get_reading to surround AHRS

magicrub · Jan 10, 2024 · f535837 · f535837
1 parent 208b8c3
commit f535837
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.cpp
@@ -99,13 +99,15 @@ bool AP_RangeFinder_Ainstein_LR_D1::get_reading(float &reading_m)
       (Azimuth 43°，Elevation 30°). The ideal case is
       keeping radar perpendicular to ground.
     */
+#ifndef HAL_BUILD_AP_PERIPH   // we may need to move this elsewhere to the entire function or driver?
     const auto &ahrs = AP::ahrs();
     if (fabs(ahrs.roll) > radians(43)) {
         return false;
     }
     if (fabs(ahrs.pitch) > radians(30)) {
         return false;
     }
+#endif
 
     snr = u.packet.object1_snr;