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Rover: add AP_GRIPPER_ENABLED

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Peter Barker 2022-09-20 17:37:48 +10:00 committed by Andrew Tridgell
parent 997f8d3d3a
commit 1e4175cc8e
5 changed files with 4 additions and 11 deletions
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2
Rover/Parameters.cpp
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@ -583,7 +583,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("MIS_DONE_BEHAVE", 38, ParametersG2, mis_done_behave, 0), AP_GROUPINFO("MIS_DONE_BEHAVE", 38, ParametersG2, mis_done_behave, 0),
#if GRIPPER_ENABLED == ENABLED #if AP_GRIPPER_ENABLED
// @Group: GRIP_ // @Group: GRIP_
// @Path: ../libraries/AP_Gripper/AP_Gripper.cpp // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
AP_SUBGROUPINFO(gripper, "GRIP_", 39, ParametersG2, AP_Gripper), AP_SUBGROUPINFO(gripper, "GRIP_", 39, ParametersG2, AP_Gripper),

2
Rover/Parameters.h
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@ -370,7 +370,7 @@ public:
AC_Sprayer sprayer; AC_Sprayer sprayer;
#endif #endif
#if GRIPPER_ENABLED #if AP_GRIPPER_ENABLED
AP_Gripper gripper; AP_Gripper gripper;
#endif #endif

2
Rover/Rover.cpp
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@ -92,7 +92,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_aux_all, 10, 200, 60), SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_aux_all, 10, 200, 60),
SCHED_TASK_CLASS(AP_BattMonitor, &rover.battery, read, 10, 300, 63), SCHED_TASK_CLASS(AP_BattMonitor, &rover.battery, read, 10, 300, 63),
SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events, 50, 200, 66), SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events, 50, 200, 66),
#if GRIPPER_ENABLED == ENABLED #if AP_GRIPPER_ENABLED
SCHED_TASK_CLASS(AP_Gripper, &rover.g2.gripper, update, 10, 75, 69), SCHED_TASK_CLASS(AP_Gripper, &rover.g2.gripper, update, 10, 75, 69),
#if PRECISION_LANDING == ENABLED #if PRECISION_LANDING == ENABLED
SCHED_TASK(update_precland, 400, 50, 70), SCHED_TASK(update_precland, 400, 50, 70),

7
Rover/config.h
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@ -31,13 +31,6 @@
#error XXX #error XXX
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// GRIPPER control
//
#ifndef GRIPPER_ENABLED
# define GRIPPER_ENABLED ENABLED
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// RALLY POINTS // RALLY POINTS
// //

2
Rover/system.cpp
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@ -25,7 +25,7 @@ void Rover::init_ardupilot()
#endif #endif
// init gripper // init gripper
#if GRIPPER_ENABLED == ENABLED #if AP_GRIPPER_ENABLED
g2.gripper.init(); g2.gripper.init();
#endif #endif