Plane: wrap Watt Limiiter in #if AP_BATTERY_WATT_MAX_ENABLED

magicrub · Nov 21, 2023 · f4605e3 · f4605e3
1 parent 28f6b28
commit f4605e3
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Showing 2 changed files with 6 additions and 0 deletions.
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -586,10 +586,12 @@ class Plane : public AP_Vehicle {
     // this controls throttle suppression in auto modes
     bool throttle_suppressed;
 
+#if AP_BATTERY_WATT_MAX_ENABLED
     // reduce throttle to eliminate battery over-current
     int8_t  throttle_watt_limit_max;
     int8_t  throttle_watt_limit_min; // for reverse thrust
     uint32_t throttle_watt_limit_timer_ms;
+#endif
 
     AP_FixedWing::FlightStage flight_stage = AP_FixedWing::FlightStage::NORMAL;
 

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -422,6 +422,7 @@ void Plane::throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle) co
 /*
   calculate any throttle limits based on the watt limiter
  */
+#if AP_BATTERY_WATT_MAX_ENABLED
 void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
 {
     uint32_t now = millis();
@@ -466,6 +467,7 @@ void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
         min_throttle = constrain_int16(min_throttle, min_throttle + throttle_watt_limit_min, 0);
     }
 }
+#endif // #if AP_BATTERY_WATT_MAX_ENABLED
 
 /*
   setup output channels all non-manual modes
@@ -509,8 +511,10 @@ void Plane::set_servos_controlled(void)
     // compensate for battery voltage drop
     throttle_voltage_comp(min_throttle, max_throttle);
 
+#if AP_BATTERY_WATT_MAX_ENABLED
     // apply watt limiter
     throttle_watt_limiter(min_throttle, max_throttle);
+#endif
 
     SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
                                     constrain_float(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle), min_throttle, max_throttle));