AP_OpticalFlow: add and use AP_OpticalFlow_config.h

libraries/AP_OpticalFlow/AP_OpticalFlow.h

@@ -14,19 +14,7 @@
  */
 #pragma once
 
-#include <AP_HAL/AP_HAL_Boards.h>
+#include "AP_OpticalFlow_config.h"
-
-#ifndef AP_OPTICALFLOW_ENABLED
-#define AP_OPTICALFLOW_ENABLED 1
-#endif
-
-#ifndef HAL_MSP_OPTICALFLOW_ENABLED
-#define HAL_MSP_OPTICALFLOW_ENABLED (AP_OPTICALFLOW_ENABLED && (HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES))
-#endif
-
-#ifndef AP_OPTICALFLOW_SITL_ENABLED
-#define AP_OPTICALFLOW_SITL_ENABLED AP_SIM_ENABLED
-#endif
 
 #if AP_OPTICALFLOW_ENABLED
 

libraries/AP_OpticalFlow/AP_OpticalFlow_Backend.h

@@ -20,6 +20,8 @@
 
 #include "AP_OpticalFlow.h"
 
+#include <AP_HAL/Semaphores.h>
+
 class OpticalFlow_backend
 {
     friend class AP_OpticalFlow;

libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h

@@ -1,14 +1,10 @@
 #pragma once
 
-#include "AP_OpticalFlow.h"
+#include "AP_OpticalFlow_config.h"
-
-#ifndef AP_OPTICALFLOW_CXOF_ENABLED
-#define AP_OPTICALFLOW_CXOF_ENABLED AP_OPTICALFLOW_ENABLED
-#endif
 
 #if AP_OPTICALFLOW_CXOF_ENABLED
 
-#include <AP_HAL/utility/OwnPtr.h>
+#include "AP_OpticalFlow_Backend.h"
 
 class AP_OpticalFlow_CXOF : public OpticalFlow_backend
 {

libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h

@@ -1,13 +1,10 @@
 #pragma once
 
-#include "AP_OpticalFlow.h"
+#include "AP_OpticalFlow_config.h"
-
-#ifndef AP_OPTICALFLOW_HEREFLOW_ENABLED
-#define AP_OPTICALFLOW_HEREFLOW_ENABLED (AP_OPTICALFLOW_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS)
-#endif
 
 #if AP_OPTICALFLOW_HEREFLOW_ENABLED
 
+#include "AP_OpticalFlow_Backend.h"
 #include <AP_DroneCAN/AP_DroneCAN.h>
 
 class AP_OpticalFlow_HereFlow : public OpticalFlow_backend {

libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.h

@@ -1,13 +1,10 @@
 #pragma once
 
-#include "AP_OpticalFlow.h"
+#include "AP_OpticalFlow_config.h"
-
-#ifndef AP_OPTICALFLOW_MAV_ENABLED
-#define AP_OPTICALFLOW_MAV_ENABLED AP_OPTICALFLOW_ENABLED
-#endif
 
 #if AP_OPTICALFLOW_MAV_ENABLED
 
+#include "AP_OpticalFlow_Backend.h"
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_MAV : public OpticalFlow_backend

libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp

@@ -12,17 +12,15 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
-#include "AP_OpticalFlow_Onboard.h"
+
+#include "AP_OpticalFlow_config.h"
 
 #if AP_OPTICALFLOW_ONBOARD_ENABLED
 
+#include "AP_OpticalFlow_Onboard.h"
+
 #include <AP_HAL/AP_HAL.h>
 
-#include "AP_OpticalFlow.h"
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX &&\
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
-
 #ifndef OPTICALFLOW_ONBOARD_DEBUG
 #define OPTICALFLOW_ONBOARD_DEBUG 0
 #endif
@@ -95,6 +93,4 @@ void AP_OpticalFlow_Onboard::update()
 #endif
 }
 
-#endif
-
 #endif  // AP_OPTICALFLOW_ONBOARD_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h

@@ -14,18 +14,11 @@
  */
 #pragma once
 
-#include <AP_OpticalFlow/AP_OpticalFlow.h>
+#include "AP_OpticalFlow_config.h"
-
-#ifndef AP_OPTICALFLOW_ONBOARD_ENABLED
-#define AP_OPTICALFLOW_ONBOARD_ENABLED AP_OPTICALFLOW_ENABLED
-#endif
 
 #if AP_OPTICALFLOW_ONBOARD_ENABLED
 
-#include <AP_AHRS/AP_AHRS.h>
+#include <AP_OpticalFlow/AP_OpticalFlow_Backend.h>
-#include <AP_Math/AP_Math.h>
-#include <AP_NavEKF2/AP_NavEKF2.h>
-#include <AP_NavEKF3/AP_NavEKF3.h>
 
 #include "AP_OpticalFlow.h"
 

libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp

@@ -16,10 +16,12 @@
   driver for PX4Flow optical flow sensor
  */
 
-#include "AP_OpticalFlow_PX4Flow.h"
+#include "AP_OpticalFlow_config.h"
 
 #if AP_OPTICALFLOW_PX4FLOW_ENABLED
 
+#include "AP_OpticalFlow_PX4Flow.h"
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
 #include <AP_AHRS/AP_AHRS.h>

libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.h

@@ -1,13 +1,10 @@
 #pragma once
 
-#include "AP_OpticalFlow.h"
+#include "AP_OpticalFlow_config.h"
-
-#ifndef AP_OPTICALFLOW_PX4FLOW_ENABLED
-#define AP_OPTICALFLOW_PX4FLOW_ENABLED AP_OPTICALFLOW_ENABLED
-#endif
 
 #if AP_OPTICALFLOW_PX4FLOW_ENABLED
 
+#include "AP_OpticalFlow_Backend.h"
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_PX4Flow : public OpticalFlow_backend

libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp

@@ -20,10 +20,12 @@
   timing for register reads and writes is critical
  */
 
-#include "AP_OpticalFlow_Pixart.h"
+#include "AP_OpticalFlow_config.h"
 
 #if AP_OPTICALFLOW_PIXART_ENABLED
 
+#include "AP_OpticalFlow_Pixart.h"
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
 #include <AP_AHRS/AP_AHRS.h>

libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h

@@ -1,13 +1,11 @@
 #pragma once
 
-#include "AP_OpticalFlow.h"
+#include "AP_OpticalFlow_config.h"
-
-#ifndef AP_OPTICALFLOW_PIXART_ENABLED
-#define AP_OPTICALFLOW_PIXART_ENABLED AP_OPTICALFLOW_ENABLED
-#endif
 
 #if AP_OPTICALFLOW_PIXART_ENABLED
 
+#include "AP_OpticalFlow_Backend.h"
+
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_Pixart : public OpticalFlow_backend

libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.h

@@ -1,9 +1,11 @@
 #pragma once
 
-#include "AP_OpticalFlow.h"
+#include "AP_OpticalFlow_config.h"
 
 #if AP_OPTICALFLOW_SITL_ENABLED
 
+#include "AP_OpticalFlow.h"
+
 class AP_OpticalFlow_SITL : public OpticalFlow_backend
 {
 public:

libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.h

@@ -1,13 +1,10 @@
 #pragma once
 
-#include "AP_OpticalFlow.h"
+#include "AP_OpticalFlow_config.h"
-
-#ifndef AP_OPTICALFLOW_UPFLOW_ENABLED
-#define AP_OPTICALFLOW_UPFLOW_ENABLED AP_OPTICALFLOW_ENABLED
-#endif
 
 #if AP_OPTICALFLOW_UPFLOW_ENABLED
 
+#include "AP_OpticalFlow_Backend.h"
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_UPFLOW : public OpticalFlow_backend

libraries/AP_OpticalFlow/AP_OpticalFlow_config.h

@@ -0,0 +1,49 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+#include <AP_MSP/AP_MSP_config.h>
+#include <GCS_MAVLink/GCS_config.h>
+
+#ifndef AP_OPTICALFLOW_ENABLED
+#define AP_OPTICALFLOW_ENABLED 1
+#endif
+
+#ifndef AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED
+#define AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#ifndef AP_OPTICALFLOW_CXOF_ENABLED
+#define AP_OPTICALFLOW_CXOF_ENABLED AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_OPTICALFLOW_HEREFLOW_ENABLED
+#define AP_OPTICALFLOW_HEREFLOW_ENABLED (AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS)
+#endif
+
+#ifndef AP_OPTICALFLOW_MAV_ENABLED
+#define AP_OPTICALFLOW_MAV_ENABLED (AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED)
+#endif
+
+#ifndef HAL_MSP_OPTICALFLOW_ENABLED
+#define HAL_MSP_OPTICALFLOW_ENABLED (AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED && (HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES))
+#endif
+
+#ifndef AP_OPTICALFLOW_ONBOARD_ENABLED
+#define AP_OPTICALFLOW_ONBOARD_ENABLED (AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP)
+#endif
+
+#ifndef AP_OPTICALFLOW_PIXART_ENABLED
+#define AP_OPTICALFLOW_PIXART_ENABLED AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_OPTICALFLOW_PX4FLOW_ENABLED
+#define AP_OPTICALFLOW_PX4FLOW_ENABLED AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_OPTICALFLOW_SITL_ENABLED
+#define AP_OPTICALFLOW_SITL_ENABLED (AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED)
+#endif
+
+#ifndef AP_OPTICALFLOW_UPFLOW_ENABLED
+#define AP_OPTICALFLOW_UPFLOW_ENABLED AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED
+#endif