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Copter: rename ADVANCED_FAILSAFE to AP_COPTER_ADVANCED_FAILSAFE_ENABLED 

to make integration with custom build server work
This commit is contained in:
Peter Barker 2024-11-06 19:09:47 +11:00 committed by Andrew Tridgell
parent 292f7bd785
commit 2c401ccec5
13 changed files with 27 additions and 25 deletions
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2
ArduCopter/APM_Config.h
View File

@ -27,7 +27,7 @@
// features below are disabled by default on all boards
//#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes
//#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
//#define ADVANCED_FAILSAFE 1 // enabled advanced failsafe which allows running a portion of the mission in failsafe events
//#define AP_COPTER_ADVANCED_FAILSAFE_ENABLED 1 // enabled advanced failsafe which allows running a portion of the mission in failsafe events
// other settings
//#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000)

2
ArduCopter/Copter.cpp
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@ -232,7 +232,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
#if HAL_ADSB_ENABLED
SCHED_TASK(avoidance_adsb_update, 10, 100, 138),
#endif
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
SCHED_TASK(afs_fs_check, 10, 100, 141),
#endif
#if AP_TERRAIN_AVAILABLE

6
ArduCopter/Copter.h
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@ -137,7 +137,7 @@
#include <AP_OSD/AP_OSD.h>
#endif
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
# include "afs_copter.h"
#endif
#if TOY_MODE_ENABLED
@ -183,7 +183,7 @@ public:
friend class ParametersG2;
friend class AP_Avoidance_Copter;
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
friend class AP_AdvancedFailsafe_Copter;
#endif
friend class AP_Arming_Copter;
@ -804,7 +804,7 @@ private:
// failsafe.cpp
void failsafe_enable();
void failsafe_disable();
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
void afs_fs_check(void);
#endif

2
ArduCopter/GCS_Mavlink.cpp
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@ -1519,7 +1519,7 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
}
MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_int_t &packet) {
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
if (GCS_MAVLINK::handle_flight_termination(packet) == MAV_RESULT_ACCEPTED) {
return MAV_RESULT_ACCEPTED;
}

4
ArduCopter/Parameters.cpp
View File

@ -771,7 +771,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Advanced
AP_GROUPINFO("GND_EFFECT_COMP", 5, ParametersG2, gndeffect_comp_enabled, 1),
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// @Group: AFS_
// @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
AP_SUBGROUPINFO(afs, "AFS_", 6, ParametersG2, AP_AdvancedFailsafe),
@ -1251,7 +1251,7 @@ ParametersG2::ParametersG2(void)
#if HAL_PROXIMITY_ENABLED
, proximity()
#endif
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
,afs()
#endif
#if MODE_SMARTRTL_ENABLED

4
ArduCopter/Parameters.h
View File

@ -530,8 +530,8 @@ public:
// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// advanced failsafe library
AP_AdvancedFailsafe_Copter afs;
#endif

4
ArduCopter/afs_copter.cpp
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@ -4,7 +4,7 @@
#include "Copter.h"
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
/*
setup radio_out values for all channels to termination values
@ -63,4 +63,4 @@ AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Copter::afs_mode(void)
{
copter.set_mode(Mode::Number::AUTO,ModeReason::GCS_FAILSAFE);
}
#endif // ADVANCED_FAILSAFE
#endif // AP_COPTER_ADVANCED_FAILSAFE_ENABLED

6
ArduCopter/afs_copter.h
View File

@ -18,7 +18,9 @@
advanced failsafe support for copter
*/
#if ADVANCED_FAILSAFE
#include "config.h"
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
/*
@ -44,5 +46,5 @@ protected:
void set_mode_auto(void) override;
};
#endif // ADVANCED_FAILSAFE
#endif // AP_COPTER_ADVANCED_FAILSAFE_ENABLED

4
ArduCopter/config.h
View File

@ -574,8 +574,8 @@
// Developer Items
//
#ifndef ADVANCED_FAILSAFE
# define ADVANCED_FAILSAFE 0
#ifndef AP_COPTER_ADVANCED_FAILSAFE_ENABLED
# define AP_COPTER_ADVANCED_FAILSAFE_ENABLED 0
#endif
#ifndef CH_MODE_DEFAULT

2
ArduCopter/events.cpp
View File

@ -492,7 +492,7 @@ void Copter::do_failsafe_action(FailsafeAction action, ModeReason reason){
set_mode_SmartRTL_or_land_with_pause(reason);
break;
case FailsafeAction::TERMINATE: {
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
g2.afs.gcs_terminate(true, "Failsafe");
#else
arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);

2
ArduCopter/failsafe.cpp
View File

@ -72,7 +72,7 @@ void Copter::failsafe_check()
}
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
/*
check for AFS failsafe check
*/

12
ArduCopter/mode.h
View File

@ -4,7 +4,7 @@
#include <AP_Math/chirp.h>
#include <AP_ExternalControl/AP_ExternalControl_config.h> // TODO why is this needed if Copter.h includes this
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
#include "afs_copter.h"
#endif
@ -134,7 +134,7 @@ public:
virtual bool allows_flip() const { return false; }
virtual bool crash_check_enabled() const { return true; }
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// Return the type of this mode for use by advanced failsafe
virtual AP_AdvancedFailsafe_Copter::control_mode afs_mode() const { return AP_AdvancedFailsafe_Copter::control_mode::AFS_STABILIZED; }
#endif
@ -517,7 +517,7 @@ public:
bool allows_inverted() const override { return true; };
#endif
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// Return the type of this mode for use by advanced failsafe
AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
#endif
@ -1068,7 +1068,7 @@ public:
bool requires_terrain_failsafe() const override { return true; }
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// Return the type of this mode for use by advanced failsafe
AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
#endif
@ -1243,7 +1243,7 @@ public:
bool is_landing() const override { return true; };
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// Return the type of this mode for use by advanced failsafe
AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
#endif
@ -1425,7 +1425,7 @@ public:
bool requires_terrain_failsafe() const override { return true; }
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// Return the type of this mode for use by advanced failsafe
AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
#endif

2
ArduCopter/motors.cpp
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@ -135,7 +135,7 @@ void Copter::auto_disarm_check()
// motors_output - send output to motors library which will adjust and send to ESCs and servos
void Copter::motors_output()
{
#if ADVANCED_FAILSAFE
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// this is to allow the failsafe module to deliberately crash
// the vehicle. Only used in extreme circumstances to meet the
// OBC rules