Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rover: remove ENABLE/DISABLE defines

This commit is contained in:
Peter Barker 2024-08-05 10:54:28 +10:00 committed by Randy Mackay
parent 516c2a853f
commit 227b6780b2
14 changed files with 30 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
Rover/Parameters.cpp
View File

@ -418,7 +418,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
AP_SUBGROUPINFO(rc_channels, "RC", 4, ParametersG2, RC_Channels_Rover),
#if ADVANCED_FAILSAFE == ENABLED
#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
// @Group: AFS_
// @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
AP_SUBGROUPINFO(afs, "AFS_", 5, ParametersG2, AP_AdvancedFailsafe),
@ -667,7 +667,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Advanced
AP_GROUPINFO("MANUAL_OPTIONS", 53, ParametersG2, manual_options, 0),
#if MODE_DOCK_ENABLED == ENABLED
#if MODE_DOCK_ENABLED
// @Group: DOCK
// @Path: mode_dock.cpp
AP_SUBGROUPPTR(mode_dock_ptr, "DOCK", 54, ParametersG2, ModeDock),
@ -729,7 +729,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
ParametersG2::ParametersG2(void)
:
#if ADVANCED_FAILSAFE == ENABLED
#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
afs(),
#endif
#if AP_BEACON_ENABLED
@ -739,7 +739,7 @@ ParametersG2::ParametersG2(void)
wheel_rate_control(wheel_encoder),
attitude_control(),
smart_rtl(),
#if MODE_DOCK_ENABLED == ENABLED
#if MODE_DOCK_ENABLED
mode_dock_ptr(&rover.mode_dock),
#endif
#if HAL_PROXIMITY_ENABLED

4
Rover/Parameters.h
View File

@ -301,7 +301,7 @@ public:
// control over servo output ranges
SRV_Channels servo_channels;
#if ADVANCED_FAILSAFE == ENABLED
#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
// advanced failsafe library
AP_AdvancedFailsafe_Rover afs;
#endif
@ -340,7 +340,7 @@ public:
AP_Proximity proximity;
#endif
#if MODE_DOCK_ENABLED == ENABLED
#if MODE_DOCK_ENABLED
// we need a pointer to the mode for the G2 table
class ModeDock *mode_dock_ptr;
#endif

2
Rover/RC_Channel.cpp
View File

@ -215,7 +215,7 @@ bool RC_Channel_Rover::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
do_aux_function_change_mode(rover.mode_loiter, ch_flag);
break;
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
// Set mode to Follow
case AUX_FUNC::FOLLOW:
do_aux_function_change_mode(rover.mode_follow, ch_flag);

2
Rover/Rover.cpp
View File

@ -134,7 +134,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
#endif
SCHED_TASK(crash_check, 10, 200, 123),
SCHED_TASK(cruise_learn_update, 50, 200, 126),
#if ADVANCED_FAILSAFE == ENABLED
#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
SCHED_TASK(afs_fs_check, 10, 200, 129),
#endif
};

14
Rover/Rover.h
View File

@ -60,7 +60,7 @@
// Local modules
#include "AP_Arming.h"
#include "sailboat.h"
#if ADVANCED_FAILSAFE == ENABLED
#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
#include "afs_rover.h"
#endif
#include "Parameters.h"
@ -81,7 +81,7 @@ public:
friend class ParametersG2;
friend class AP_Rally_Rover;
friend class AP_Arming_Rover;
#if ADVANCED_FAILSAFE == ENABLED
#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
friend class AP_AdvancedFailsafe_Rover;
#endif
#if AP_EXTERNAL_CONTROL_ENABLED
@ -99,11 +99,11 @@ public:
friend class ModeManual;
friend class ModeRTL;
friend class ModeSmartRTL;
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
friend class ModeFollow;
#endif
friend class ModeSimple;
#if MODE_DOCK_ENABLED == ENABLED
#if MODE_DOCK_ENABLED
friend class ModeDock;
#endif
@ -253,11 +253,11 @@ private:
ModeSteering mode_steering;
ModeRTL mode_rtl;
ModeSmartRTL mode_smartrtl;
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
ModeFollow mode_follow;
#endif
ModeSimple mode_simple;
#if MODE_DOCK_ENABLED == ENABLED
#if MODE_DOCK_ENABLED
ModeDock mode_dock;
#endif
@ -322,7 +322,7 @@ private:
// failsafe.cpp
void failsafe_trigger(uint8_t failsafe_type, const char* type_str, bool on);
void handle_battery_failsafe(const char* type_str, const int8_t action);
#if ADVANCED_FAILSAFE == ENABLED
#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
void afs_fs_check(void);
#endif

2
Rover/afs_rover.cpp
View File

@ -4,7 +4,7 @@
#include "Rover.h"
#if ADVANCED_FAILSAFE == ENABLED
#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
/*
Setup radio_out values for all channels to termination values

2
Rover/afs_rover.h
View File

@ -18,7 +18,7 @@
advanced failsafe support for rover
*/
#if ADVANCED_FAILSAFE == ENABLED
#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
/*

4
Rover/config.h
View File

@ -72,6 +72,6 @@
#define RESET_SWITCH_CHAN_PWM 1750
#endif
#ifndef ADVANCED_FAILSAFE
#define ADVANCED_FAILSAFE DISABLED
#ifndef AP_ROVER_ADVANCED_FAILSAFE_ENABLED
#define AP_ROVER_ADVANCED_FAILSAFE_ENABLED 0
#endif

8
Rover/defines.h
View File

@ -3,14 +3,6 @@
// Internal defines, don't edit and expect things to work
// -------------------------------------------------------
// 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 SERVO_MAX 4500.0 // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
// types of failsafe events

6
Rover/failsafe.cpp
View File

@ -133,18 +133,18 @@ void Rover::handle_battery_failsafe(const char* type_str, const int8_t action)
}
break;
case FailsafeAction::Terminate:
#if ADVANCED_FAILSAFE == ENABLED
#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
char battery_type_str[17];
snprintf(battery_type_str, 17, "%s battery", type_str);
g2.afs.gcs_terminate(true, battery_type_str);
#else
arming.disarm(AP_Arming::Method::BATTERYFAILSAFE);
#endif // ADVANCED_FAILSAFE == ENABLED
#endif // AP_ROVER_ADVANCED_FAILSAFE_ENABLED
break;
}
}
#if ADVANCED_FAILSAFE == ENABLED
#if AP_ROVER_ADVANCED_FAILSAFE_ENABLED
/*
check for AFS failsafe check
*/

4
Rover/mode.cpp
View File

@ -531,7 +531,7 @@ Mode *Rover::mode_from_mode_num(const enum Mode::Number num)
case Mode::Number::LOITER:
ret = &mode_loiter;
break;
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
case Mode::Number::FOLLOW:
ret = &mode_follow;
break;
@ -557,7 +557,7 @@ Mode *Rover::mode_from_mode_num(const enum Mode::Number num)
case Mode::Number::INITIALISING:
ret = &mode_initializing;
break;
#if MODE_DOCK_ENABLED == ENABLED
#if MODE_DOCK_ENABLED
case Mode::Number::DOCK:
ret = (Mode *)g2.mode_dock_ptr;
break;

6
Rover/mode.h
View File

@ -19,7 +19,7 @@ public:
LOITER = 5,
FOLLOW = 6,
SIMPLE = 7,
#if MODE_DOCK_ENABLED == ENABLED
#if MODE_DOCK_ENABLED
DOCK = 8,
#endif
CIRCLE = 9,
@ -808,7 +808,7 @@ protected:
bool _enter() override { return false; };
};
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
class ModeFollow : public Mode
{
public:
@ -868,7 +868,7 @@ private:
float _desired_heading_cd; // latest desired heading (in centi-degrees) from pilot
};
#if MODE_DOCK_ENABLED == ENABLED
#if MODE_DOCK_ENABLED
class ModeDock : public Mode
{
public:

2
Rover/mode_dock.cpp
View File

@ -1,6 +1,6 @@
#include "Rover.h"
#if MODE_DOCK_ENABLED == ENABLED
#if MODE_DOCK_ENABLED
const AP_Param::GroupInfo ModeDock::var_info[] = {
// @Param: _SPEED

4
Rover/system.cpp
View File

@ -30,7 +30,7 @@ void Rover::init_ardupilot()
// setup telem slots with serial ports
gcs().setup_uarts();
#if OSD_ENABLED == ENABLED
#if OSD_ENABLED
osd.init();
#endif
@ -201,7 +201,7 @@ bool Rover::gcs_mode_enabled(const Mode::Number mode_num) const
(uint8_t)Mode::Number::RTL,
(uint8_t)Mode::Number::SMART_RTL,
(uint8_t)Mode::Number::GUIDED,
#if MODE_DOCK_ENABLED == ENABLED
#if MODE_DOCK_ENABLED
(uint8_t)Mode::Number::DOCK
#endif
};