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Sub: remove ENABLE/DISABLE defines, use 0/1 instead 

same as Plane, Rover, Sub, Tracker
This commit is contained in:
Peter Barker 2024-08-13 21:42:38 +10:00 committed by Willian Galvani
parent 11e05b1436
commit 1f0c31bcef
8 changed files with 29 additions and 37 deletions
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6
ArduSub/Parameters.cpp
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@ -492,7 +492,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Path: ../libraries/AC_WPNav/AC_Loiter.cpp // @Path: ../libraries/AC_WPNav/AC_Loiter.cpp
GOBJECT(loiter_nav, "LOIT_", AC_Loiter), GOBJECT(loiter_nav, "LOIT_", AC_Loiter),
#if CIRCLE_NAV_ENABLED == ENABLED #if CIRCLE_NAV_ENABLED
// @Group: CIRCLE_ // @Group: CIRCLE_
// @Path: ../libraries/AC_WPNav/AC_Circle.cpp // @Path: ../libraries/AC_WPNav/AC_Circle.cpp
GOBJECT(circle_nav, "CIRCLE_", AC_Circle), GOBJECT(circle_nav, "CIRCLE_", AC_Circle),
@ -598,7 +598,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp // @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
GOBJECT(scheduler, "SCHED_", AP_Scheduler), GOBJECT(scheduler, "SCHED_", AP_Scheduler),
#if AVOIDANCE_ENABLED == ENABLED #if AVOIDANCE_ENABLED
// @Group: AVOID_ // @Group: AVOID_
// @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp // @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
GOBJECT(avoid, "AVOID_", AC_Avoid), GOBJECT(avoid, "AVOID_", AC_Avoid),
@ -614,7 +614,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp,../libraries/AP_Motors/AP_MotorsMulticopter.cpp // @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp,../libraries/AP_Motors/AP_MotorsMulticopter.cpp
GOBJECT(motors, "MOT_", AP_Motors6DOF), GOBJECT(motors, "MOT_", AP_Motors6DOF),
#if RCMAP_ENABLED == ENABLED #if RCMAP_ENABLED
// @Group: RCMAP_ // @Group: RCMAP_
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
GOBJECT(rcmap, "RCMAP_", RCMapper), GOBJECT(rcmap, "RCMAP_", RCMapper),

12
ArduSub/Sub.h
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@ -78,7 +78,7 @@
#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library #include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
// libraries which are dependent on #defines in defines.h and/or config.h // libraries which are dependent on #defines in defines.h and/or config.h
#if RCMAP_ENABLED == ENABLED #if RCMAP_ENABLED
#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library #include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
#endif #endif
@ -88,7 +88,7 @@
#include <AP_RPM/AP_RPM.h> #include <AP_RPM/AP_RPM.h>
#endif #endif
#if AVOIDANCE_ENABLED == ENABLED #if AVOIDANCE_ENABLED
#include <AC_Avoidance/AC_Avoid.h> // Stop at fence library #include <AC_Avoidance/AC_Avoid.h> // Stop at fence library
#endif #endif
@ -206,7 +206,7 @@ private:
Mode::Number prev_control_mode; Mode::Number prev_control_mode;
#if RCMAP_ENABLED == ENABLED #if RCMAP_ENABLED
RCMapper rcmap; RCMapper rcmap;
#endif #endif
@ -355,7 +355,7 @@ private:
AP_Mount camera_mount; AP_Mount camera_mount;
#endif #endif
#if AVOIDANCE_ENABLED == ENABLED #if AVOIDANCE_ENABLED
AC_Avoid avoid; AC_Avoid avoid;
#endif #endif
@ -514,7 +514,7 @@ private:
void do_loiter_unlimited(const AP_Mission::Mission_Command& cmd); void do_loiter_unlimited(const AP_Mission::Mission_Command& cmd);
void do_circle(const AP_Mission::Mission_Command& cmd); void do_circle(const AP_Mission::Mission_Command& cmd);
void do_loiter_time(const AP_Mission::Mission_Command& cmd); void do_loiter_time(const AP_Mission::Mission_Command& cmd);
#if NAV_GUIDED == ENABLED #if NAV_GUIDED
void do_nav_guided_enable(const AP_Mission::Mission_Command& cmd); void do_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
void do_guided_limits(const AP_Mission::Mission_Command& cmd); void do_guided_limits(const AP_Mission::Mission_Command& cmd);
#endif #endif
@ -531,7 +531,7 @@ private:
bool verify_surface(const AP_Mission::Mission_Command& cmd); bool verify_surface(const AP_Mission::Mission_Command& cmd);
bool verify_RTL(void); bool verify_RTL(void);
bool verify_circle(const AP_Mission::Mission_Command& cmd); bool verify_circle(const AP_Mission::Mission_Command& cmd);
#if NAV_GUIDED == ENABLED #if NAV_GUIDED
bool verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd); bool verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
#endif #endif
bool verify_nav_delay(const AP_Mission::Mission_Command& cmd); bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);

12
ArduSub/commands_logic.cpp
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@ -61,7 +61,7 @@ bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
do_loiter_time(cmd); do_loiter_time(cmd);
break; break;
#if NAV_GUIDED == ENABLED #if NAV_GUIDED
case MAV_CMD_NAV_GUIDED_ENABLE: // 92 accept navigation commands from external nav computer case MAV_CMD_NAV_GUIDED_ENABLE: // 92 accept navigation commands from external nav computer
do_nav_guided_enable(cmd); do_nav_guided_enable(cmd);
break; break;
@ -107,7 +107,7 @@ bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
do_mount_control(cmd); do_mount_control(cmd);
break; break;
#if NAV_GUIDED == ENABLED #if NAV_GUIDED
case MAV_CMD_DO_GUIDED_LIMITS: // 222 accept guided mode limits case MAV_CMD_DO_GUIDED_LIMITS: // 222 accept guided mode limits
do_guided_limits(cmd); do_guided_limits(cmd);
break; break;
@ -170,7 +170,7 @@ bool Sub::verify_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_NAV_LOITER_TIME: case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time(); return verify_loiter_time();
#if NAV_GUIDED == ENABLED #if NAV_GUIDED
case MAV_CMD_NAV_GUIDED_ENABLE: case MAV_CMD_NAV_GUIDED_ENABLE:
return verify_nav_guided_enable(cmd); return verify_nav_guided_enable(cmd);
#endif #endif
@ -384,7 +384,7 @@ void Sub::do_loiter_time(const AP_Mission::Mission_Command& cmd)
loiter_time_max = cmd.p1; // units are (seconds) loiter_time_max = cmd.p1; // units are (seconds)
} }
#if NAV_GUIDED == ENABLED #if NAV_GUIDED
// do_nav_guided_enable - initiate accepting commands from external nav computer // do_nav_guided_enable - initiate accepting commands from external nav computer
void Sub::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd) void Sub::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
{ {
@ -417,7 +417,7 @@ void Sub::do_nav_delay(const AP_Mission::Mission_Command& cmd)
gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec", (unsigned)(nav_delay_time_max_ms/1000)); gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec", (unsigned)(nav_delay_time_max_ms/1000));
} }
#if NAV_GUIDED == ENABLED #if NAV_GUIDED
// do_guided_limits - pass guided limits to guided controller // do_guided_limits - pass guided limits to guided controller
void Sub::do_guided_limits(const AP_Mission::Mission_Command& cmd) void Sub::do_guided_limits(const AP_Mission::Mission_Command& cmd)
{ {
@ -550,7 +550,7 @@ bool Sub::verify_circle(const AP_Mission::Mission_Command& cmd)
return fabsf(sub.circle_nav.get_angle_total()/M_2PI) >= turns; return fabsf(sub.circle_nav.get_angle_total()/M_2PI) >= turns;
} }
#if NAV_GUIDED == ENABLED #if NAV_GUIDED
// verify_nav_guided - check if we have breached any limits // verify_nav_guided - check if we have breached any limits
bool Sub::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd) bool Sub::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
{ {

16
ArduSub/config.h
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@ -31,7 +31,7 @@
// //
#ifndef CIRCLE_NAV_ENABLED #ifndef CIRCLE_NAV_ENABLED
# define CIRCLE_NAV_ENABLED ENABLED # define CIRCLE_NAV_ENABLED 1
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
@ -39,7 +39,7 @@
// //
#ifndef RCMAP_ENABLED #ifndef RCMAP_ENABLED
# define RCMAP_ENABLED DISABLED # define RCMAP_ENABLED 0
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
@ -59,7 +59,7 @@
#endif #endif
#ifndef RANGEFINDER_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF #ifndef RANGEFINDER_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF
# define RANGEFINDER_TILT_CORRECTION DISABLED # define RANGEFINDER_TILT_CORRECTION 0
#endif #endif
#ifndef RANGEFINDER_SIGNAL_MIN_DEFAULT #ifndef RANGEFINDER_SIGNAL_MIN_DEFAULT
@ -72,11 +72,11 @@
// Avoidance (relies on Proximity and Fence) // Avoidance (relies on Proximity and Fence)
#ifndef AVOIDANCE_ENABLED #ifndef AVOIDANCE_ENABLED
# define AVOIDANCE_ENABLED DISABLED # define AVOIDANCE_ENABLED 0
#endif #endif
#if AVOIDANCE_ENABLED == ENABLED // Avoidance Library relies on Fence #if AVOIDANCE_ENABLED // Avoidance Library relies on Fence
# define FENCE_ENABLED ENABLED # define FENCE_ENABLED 1
#endif #endif
#ifndef MAV_SYSTEM_ID #ifndef MAV_SYSTEM_ID
@ -90,7 +90,7 @@
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Nav-Guided - allows external nav computer to control vehicle // Nav-Guided - allows external nav computer to control vehicle
#ifndef NAV_GUIDED #ifndef NAV_GUIDED
# define NAV_GUIDED ENABLED # define NAV_GUIDED 1
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
@ -156,7 +156,7 @@
// PosHold parameter defaults // PosHold parameter defaults
// //
#ifndef POSHOLD_ENABLED #ifndef POSHOLD_ENABLED
# define POSHOLD_ENABLED ENABLED // PosHold flight mode enabled by default # define POSHOLD_ENABLED 1 // PosHold flight mode enabled by default
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////

10
ArduSub/defines.h
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@ -2,14 +2,6 @@
#include <AP_HAL/AP_HAL_Boards.h> #include <AP_HAL/AP_HAL_Boards.h>
// Just so that it's completely clear...
#define ENABLED 1
#define DISABLED 0
// this avoids a very common config error
#define ENABLE ENABLED
#define DISABLE DISABLED
#define BOTTOM_DETECTOR_TRIGGER_SEC 1.0 #define BOTTOM_DETECTOR_TRIGGER_SEC 1.0
#define SURFACE_DETECTOR_TRIGGER_SEC 1.0 #define SURFACE_DETECTOR_TRIGGER_SEC 1.0
@ -77,7 +69,7 @@ enum LoggingParameters {
// GCS failsafe // GCS failsafe
#ifndef FS_GCS #ifndef FS_GCS
# define FS_GCS DISABLED # define FS_GCS 0
#endif #endif
#ifndef FS_GCS_TIMEOUT_S #ifndef FS_GCS_TIMEOUT_S
# define FS_GCS_TIMEOUT_S 5.0 // gcs failsafe triggers after this number of seconds with no GCS heartbeat # define FS_GCS_TIMEOUT_S 5.0 // gcs failsafe triggers after this number of seconds with no GCS heartbeat

4
ArduSub/mode_auto.cpp
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@ -50,7 +50,7 @@ void ModeAuto::run()
break; break;
case Auto_NavGuided: case Auto_NavGuided:
#if NAV_GUIDED == ENABLED #if NAV_GUIDED
auto_nav_guided_run(); auto_nav_guided_run();
#endif #endif
break; break;
@ -252,7 +252,7 @@ void ModeAuto::auto_circle_run()
attitude_control->input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), sub.circle_nav.get_yaw(), true); attitude_control->input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), sub.circle_nav.get_yaw(), true);
} }
#if NAV_GUIDED == ENABLED #if NAV_GUIDED
// auto_nav_guided_start - hand over control to external navigation controller in AUTO mode // auto_nav_guided_start - hand over control to external navigation controller in AUTO mode
void ModeAuto::auto_nav_guided_start() void ModeAuto::auto_nav_guided_start()
{ {

4
ArduSub/mode_poshold.cpp
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@ -4,7 +4,7 @@
#include "Sub.h" #include "Sub.h"
#if POSHOLD_ENABLED == ENABLED #if POSHOLD_ENABLED
// poshold_init - initialise PosHold controller // poshold_init - initialise PosHold controller
bool ModePoshold::init(bool ignore_checks) bool ModePoshold::init(bool ignore_checks)
@ -111,4 +111,4 @@ void ModePoshold::run()
// Update z axis // // Update z axis //
control_depth(); control_depth();
} }
#endif // POSHOLD_ENABLED == ENABLED #endif // POSHOLD_ENABLED

2
ArduSub/sensors.cpp
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@ -41,7 +41,7 @@ void Sub::read_rangefinder()
int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270); int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270);
#if RANGEFINDER_TILT_CORRECTION == ENABLED #if RANGEFINDER_TILT_CORRECTION
// correct alt for angle of the rangefinder // correct alt for angle of the rangefinder
temp_alt = (float)temp_alt * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z); temp_alt = (float)temp_alt * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);
#endif #endif