Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-10 18:03:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: Rename SOARING_ENABLED to HAL_SOARING_ENABLED and don't compare to ENABLED.

Browse Source
This commit is contained in:
Samuel Tabor 2020-09-23 09:16:45 +01:00 committed by Peter Barker
parent fe6c4d9290
commit 10111f92d5
16 changed files with 19 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/ArduPlane.cpp
View File

@ -80,7 +80,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(Log_Write_Fast, 25, 300),
SCHED_TASK(update_logging1, 25, 300),
SCHED_TASK(update_logging2, 25, 300),
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
SCHED_TASK(update_soaring, 50, 400),
#endif
SCHED_TASK(parachute_check, 10, 200),

2
ArduPlane/GCS_Mavlink.cpp
View File

@ -267,7 +267,7 @@ int16_t GCS_MAVLINK_Plane::vfr_hud_throttle() const
float GCS_MAVLINK_Plane::vfr_hud_climbrate() const
{
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
if (plane.g2.soaring_controller.is_active()) {
return plane.g2.soaring_controller.get_vario_reading();
}

4
ArduPlane/Parameters.cpp
View File

@ -1137,7 +1137,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
AP_SUBGROUPINFO(rc_channels, "RC", 7, ParametersG2, RC_Channels_Plane),
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
// @Group: SOAR_
// @Path: ../libraries/AP_Soaring/AP_Soaring.cpp
AP_SUBGROUPINFO(soaring_controller, "SOAR_", 8, ParametersG2, SoaringController),
@ -1300,7 +1300,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
ParametersG2::ParametersG2(void) :
ice_control(plane.rpm_sensor)
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
,soaring_controller(plane.TECS_controller, plane.aparm)
#endif
,button_ptr(&plane.button)

2
ArduPlane/Parameters.h
View File

@ -525,7 +525,7 @@ public:
// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
// ArduSoar parameters
SoaringController soaring_controller;
#endif

4
ArduPlane/Plane.h
View File

@ -280,7 +280,7 @@ private:
ModeQAcro mode_qacro;
ModeQAutotune mode_qautotune;
ModeTakeoff mode_takeoff;
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
ModeThermal mode_thermal;
#endif
@ -1072,7 +1072,7 @@ private:
#endif
// soaring.cpp
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
void update_soaring();
bool soaring_exit_heading_aligned() const;
void soaring_restore_mode(const char *reason, ModeReason modereason);

2
ArduPlane/RC_Channel.cpp
View File

@ -98,7 +98,7 @@ void RC_Channel_Plane::do_aux_function_crow_mode(AuxSwitchPos ch_flag)
void RC_Channel_Plane::do_aux_function_soaring_3pos(AuxSwitchPos ch_flag)
{
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
SoaringController::ActiveStatus desired_state = SoaringController::ActiveStatus::SOARING_DISABLED;
switch (ch_flag) {

2
ArduPlane/altitude.cpp
View File

@ -61,7 +61,7 @@ void Plane::adjust_altitude_target()
landing.adjust_landing_slope_for_rangefinder_bump(rangefinder_state, prev_WP_loc, next_WP_loc, current_loc, auto_state.wp_distance, target_altitude.offset_cm);
} else if (landing.get_target_altitude_location(target_location)) {
set_target_altitude_location(target_location);
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
} else if (g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed()) {
// Reset target alt to current alt, to prevent large altitude errors when gliding.
set_target_altitude_location(current_loc);

2
ArduPlane/control_modes.cpp
View File

@ -74,7 +74,7 @@ Mode *Plane::mode_from_mode_num(const enum Mode::Number num)
ret = &mode_takeoff;
break;
case Mode::Number::THERMAL:
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
ret = &mode_thermal;
#endif
break;

2
ArduPlane/mode.h
View File

@ -524,7 +524,7 @@ protected:
bool _enter() override;
};
#if SOARING_ENABLED
#if HAL_SOARING_ENABLED
class ModeThermal: public Mode
{

2
ArduPlane/mode_auto.cpp
View File

@ -23,7 +23,7 @@ bool ModeAuto::_enter()
}
}
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
plane.g2.soaring_controller.init_cruising();
#endif

2
ArduPlane/mode_cruise.cpp
View File

@ -9,7 +9,7 @@ bool ModeCruise::_enter()
locked_heading = false;
lock_timer_ms = 0;
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
// for ArduSoar soaring_controller
plane.g2.soaring_controller.init_cruising();
#endif

2
ArduPlane/mode_fbwb.cpp
View File

@ -7,7 +7,7 @@ bool ModeFBWB::_enter()
plane.auto_throttle_mode = true;
plane.auto_navigation_mode = false;
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
// for ArduSoar soaring_controller
plane.g2.soaring_controller.init_cruising();
#endif

2
ArduPlane/mode_thermal.cpp
View File

@ -1,7 +1,7 @@
#include "mode.h"
#include "Plane.h"
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
bool ModeThermal::_enter()
{

2
ArduPlane/navigation.cpp
View File

@ -338,7 +338,7 @@ void Plane::update_fbwb_speed_height(void)
set_target_altitude_current();
}
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
if (g2.soaring_controller.is_active()) {
if (g2.soaring_controller.get_throttle_suppressed()) {
// we're in soaring mode with throttle suppressed

2
ArduPlane/soaring.cpp
View File

@ -1,6 +1,6 @@
#include "Plane.h"
#if SOARING_ENABLED == ENABLED
#if HAL_SOARING_ENABLED
/*
* ArduSoar support function

4
libraries/AP_Soaring/AP_Soaring.h
View File

@ -16,8 +16,8 @@
#include "Variometer.h"
#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
#ifndef SOARING_ENABLED
#define SOARING_ENABLED !HAL_MINIMIZE_FEATURES
#ifndef HAL_SOARING_ENABLED
#define HAL_SOARING_ENABLED !HAL_MINIMIZE_FEATURES
#endif
#define INITIAL_THERMAL_STRENGTH 2.0