ArduCopter: use AP_BEACON_ENABLED instead of BEACON_ENABLED

ArduCopter/APM_Config.h

@@ -9,7 +9,6 @@
 //#define AC_OAPATHPLANNER_ENABLED DISABLED         // disable path planning around obstacles
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
-//#define BEACON_ENABLED        DISABLED            // disable beacon support
 //#define STATS_ENABLED         DISABLED            // disable statistics support
 //#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support

ArduCopter/Copter.cpp

@@ -165,7 +165,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if HAL_PROXIMITY_ENABLED
     SCHED_TASK_CLASS(AP_Proximity,         &copter.g2.proximity,        update,         200,  50,  36),
 #endif
-#if BEACON_ENABLED == ENABLED
+#if AP_BEACON_ENABLED
     SCHED_TASK_CLASS(AP_Beacon,            &copter.g2.beacon,           update,         400,  50,  39),
 #endif
     SCHED_TASK(update_altitude,       10,    100,  42),
@@ -550,7 +550,7 @@ void Copter::ten_hz_logging_loop()
 #if HAL_PROXIMITY_ENABLED
         g2.proximity.log();  // Write proximity sensor distances
 #endif
-#if BEACON_ENABLED == ENABLED
+#if AP_BEACON_ENABLED
         g2.beacon.log();
 #endif
     }

ArduCopter/Copter.h

@@ -100,8 +100,8 @@
 #include "AP_Rally.h"           // Rally point library
 #include "AP_Arming.h"
 
-// libraries which are dependent on #defines in defines.h and/or config.h
-#if BEACON_ENABLED == ENABLED
+#include <AP_Beacon/AP_Beacon_config.h>
+#if AP_BEACON_ENABLED
  #include <AP_Beacon/AP_Beacon.h>
 #endif
 

ArduCopter/Parameters.cpp

@@ -776,7 +776,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),
 
-#if BEACON_ENABLED == ENABLED
+#if AP_BEACON_ENABLED
     // @Group: BCN
     // @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
     AP_SUBGROUPINFO(beacon, "BCN", 14, ParametersG2, AP_Beacon),
@@ -1225,7 +1225,7 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
  */
 ParametersG2::ParametersG2(void)
     : temp_calibration() // this doesn't actually need constructing, but removing it here is problematic syntax-wise
-#if BEACON_ENABLED == ENABLED
+#if AP_BEACON_ENABLED
     , beacon()
 #endif
 #if HAL_PROXIMITY_ENABLED

ArduCopter/Parameters.h

@@ -525,7 +525,7 @@ public:
     // temperature calibration handling
     AP_TempCalibration temp_calibration;
 
-#if BEACON_ENABLED == ENABLED
+#if AP_BEACON_ENABLED
     // beacon (non-GPS positioning) library
     AP_Beacon beacon;
 #endif

ArduCopter/config.h

@@ -288,13 +288,6 @@
     # define MODE_AUTOROTATE_ENABLED DISABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-
-// Beacon support - support for local positioning systems
-#ifndef BEACON_ENABLED
-# define BEACON_ENABLED !HAL_MINIMIZE_FEATURES
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION
 //////////////////////////////////////////////////////////////////////////////

ArduCopter/system.cpp

@@ -159,7 +159,7 @@ void Copter::init_ardupilot()
     g2.proximity.init();
 #endif
 
-#if BEACON_ENABLED == ENABLED
+#if AP_BEACON_ENABLED
     // init beacons used for non-gps position estimation
     g2.beacon.init();
 #endif