AP_DroneCAN: don't delcare xacti publishers if xacti not compiled in

ArduPilot · Jan 20, 2025 · 7ff52a7 · 7ff52a7
1 parent 1dae851
commit 7ff52a7
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.h b/libraries/AP_DroneCAN/AP_DroneCAN.h
@@ -37,6 +37,7 @@
 #include <AP_SerialManager/AP_SerialManager_config.h>
 #include <AP_Relay/AP_Relay_config.h>
 #include <AP_Servo_Telem/AP_Servo_Telem_config.h>
+#include <AP_Mount/AP_Mount_config.h>
 
 #ifndef DRONECAN_SRV_NUMBER
 #define DRONECAN_SRV_NUMBER NUM_SERVO_CHANNELS
@@ -167,10 +168,12 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
     Canard::Publisher<uavcan_equipment_indication_BeepCommand> buzzer{canard_iface};
     Canard::Publisher<uavcan_equipment_gnss_RTCMStream> rtcm_stream{canard_iface};
 
+#if HAL_MOUNT_XACTI_ENABLED
     // xacti specific publishers
     Canard::Publisher<com_xacti_CopterAttStatus> xacti_copter_att_status{canard_iface};
     Canard::Publisher<com_xacti_GimbalControlData> xacti_gimbal_control_data{canard_iface};
     Canard::Publisher<com_xacti_GnssStatus> xacti_gnss_status{canard_iface};
+#endif  // HAL_MOUNT_XACTI_ENABLED
 
 #if AP_RELAY_DRONECAN_ENABLED
     // Hardpoint for relay