Sub: make mount/gimbal inclusion configurable per-board

ArduSub/ArduSub.cpp

@@ -43,7 +43,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
 #if AC_FENCE == ENABLED
     SCHED_TASK_CLASS(AC_Fence,            &sub.fence,        update,              10, 100),
 #endif
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     SCHED_TASK_CLASS(AP_Mount,            &sub.camera_mount, update,              50,  75),
 #endif
 #if CAMERA == ENABLED
@@ -126,7 +126,7 @@ void Sub::fast_loop()
     // check if we've reached the surface or bottom
     update_surface_and_bottom_detector();
 
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     // camera mount's fast update
     camera_mount.update_fast();
 #endif

ArduSub/Parameters.cpp

@@ -468,7 +468,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
     GOBJECT(ahrs,                   "AHRS_",    AP_AHRS),
 
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     // @Group: MNT
     // @Path: ../libraries/AP_Mount/AP_Mount.cpp
     GOBJECT(camera_mount,           "MNT",  AP_Mount),

ArduSub/Sub.h

@@ -359,7 +359,7 @@ private:
 #endif
 
     // Camera/Antenna mount tracking and stabilisation stuff
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     AP_Mount camera_mount;
 #endif
 

ArduSub/commands_logic.cpp

@@ -789,7 +789,7 @@ void Sub::do_roi(const AP_Mission::Mission_Command& cmd)
 // point the camera to a specified angle
 void Sub::do_mount_control(const AP_Mission::Mission_Command& cmd)
 {
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     camera_mount.set_angle_targets(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw);
 #endif
 }

ArduSub/config.h

@@ -138,14 +138,6 @@
 # define CAMERA        DISABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// MOUNT (ANTENNA OR CAMERA)
-//
-#ifndef MOUNT
-# define MOUNT         ENABLED
-#endif
-
-
 //////////////////////////////////////////////////////////////////////////////
 // Flight mode definitions
 //

ArduSub/control_auto.cpp

@@ -536,14 +536,14 @@ void Sub::set_auto_yaw_roi(const Location &roi_location)
     if (roi_location.alt == 0 && roi_location.lat == 0 && roi_location.lng == 0) {
         // set auto yaw mode back to default assuming the active command is a waypoint command.  A more sophisticated method is required to ensure we return to the proper yaw control for the active command
         set_auto_yaw_mode(get_default_auto_yaw_mode(false));
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
         // switch off the camera tracking if enabled
         if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
             camera_mount.set_mode_to_default();
         }
-#endif  // MOUNT == ENABLED
+#endif  // HAL_MOUNT_ENABLED
     } else {
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
         // check if mount type requires us to rotate the quad
         if (!camera_mount.has_pan_control()) {
             roi_WP = pv_location_to_vector(roi_location);
@@ -562,7 +562,7 @@ void Sub::set_auto_yaw_roi(const Location &roi_location)
         // if we have no camera mount aim the quad at the location
         roi_WP = pv_location_to_vector(roi_location);
         set_auto_yaw_mode(AUTO_YAW_ROI);
-#endif  // MOUNT == ENABLED
+#endif  // HAL_MOUNT_ENABLED
     }
 }
 

ArduSub/flight_mode.cpp

@@ -165,9 +165,9 @@ void Sub::exit_mode(control_mode_t old_control_mode, control_mode_t new_control_
         if (mission.state() == AP_Mission::MISSION_RUNNING) {
             mission.stop();
         }
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
         camera_mount.set_mode_to_default();
-#endif  // MOUNT == ENABLED
+#endif  // HAL_MOUNT_ENABLED
     }
 }
 

ArduSub/joystick.cpp

@@ -182,7 +182,7 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
         break;
 
     case JSButton::button_function_t::k_mount_center:
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
         camera_mount.set_angle_targets(0, 0, 0);
         // for some reason the call to set_angle_targets changes the mode to mavlink targeting!
         camera_mount.set_mode(MAV_MOUNT_MODE_RC_TARGETING);

ArduSub/system.cpp

@@ -100,7 +100,7 @@ void Sub::init_ardupilot()
     init_optflow();
 #endif
 
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     // initialise camera mount
     camera_mount.init();
     // This step ncessary so the servo is properly initialized