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Sub: Disable Avoidance and Proximity by default

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This commit is contained in:
Jacob Walser 2016-12-04 11:49:46 -05:00 committed by Andrew Tridgell
parent d11b07bd4f
commit 45de3b1163
6 changed files with 27 additions and 4 deletions
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2
ArduSub/APM_Config.h
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@ -28,6 +28,8 @@
//#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
// features below are disabled by default on all boards
//#define AVOIDANCE_ENABLED ENABLED
//#define PROXIMITY_ENABLED ENABLED
//#define AC_RALLY ENABLED // enable rally points library
//#define AC_TERRAIN ENABLED // enable terrain library (Must also enable Rally)
//#define OPTFLOW ENABLED // enable optical flow sensor support

6
ArduSub/Parameters.cpp
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@ -822,9 +822,11 @@ const AP_Param::Info Sub::var_info[] = {
GOBJECT(fence, "FENCE_", AC_Fence),
#endif
#if AVOIDANCE_ENABLED == ENABLED
// @Group: AVOID_
// @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
GOBJECT(avoid, "AVOID_", AC_Avoid),
#endif
#if AC_RALLY == ENABLED
// @Group: RALLY_
@ -958,7 +960,9 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
constructor for g2 object
*/
ParametersG2::ParametersG2(void)
: proximity(sub.serial_manager)
#if PROXIMITY_ENABLED == ENABLED
: proximity(sub.serial_manager)
#endif
{
AP_Param::setup_object_defaults(this, var_info);
}

2
ArduSub/Parameters.h
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@ -96,7 +96,7 @@ public:
k_param_terrain, // Terrain database
k_param_rally, // Disabled
k_param_circle_nav, // Disabled
k_param_avoid,
k_param_avoid, // Relies on proximity and fence
// Other external hardware interfaces

2
ArduSub/Sub.cpp
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@ -65,7 +65,9 @@ Sub::Sub(void) :
pos_control(ahrs, inertial_nav, motors, attitude_control,
g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
g.p_pos_xy, g.pi_vel_xy),
#if AVOIDANCE_ENABLED == ENABLED
avoid(ahrs, inertial_nav, fence, g2.proximity),
#endif
wp_nav(inertial_nav, ahrs, pos_control, attitude_control),
circle_nav(inertial_nav, ahrs, pos_control),
pmTest1(0),

16
ArduSub/Sub.h
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@ -64,7 +64,7 @@
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <AP_Motors/AP_Motors.h> // AP Motors library
#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
#include <AP_Proximity/AP_Proximity.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
#include <Filter/Filter.h> // Filter library
#include <AP_Buffer/AP_Buffer.h> // APM FIFO Buffer
@ -79,7 +79,7 @@
#include <AC_WPNav/AC_Circle.h> // circle navigation library
#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <AC_Fence/AC_Fence.h> // ArduCopter Fence library
#include <AC_Avoidance/AC_Avoid.h> // Arducopter stop at fence library
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#include <AP_Notify/AP_Notify.h> // Notify library
#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
@ -106,6 +106,14 @@
#include <AP_Gripper/AP_Gripper.h> // gripper stuff
#endif
#if PROXIMITY_ENABLED == ENABLED
#include <AP_Proximity/AP_Proximity.h>
#endif
#if AVOIDANCE_ENABLED == ENABLED
#include <AC_Avoidance/AC_Avoid.h> // Arducopter stop at fence library
#endif
// Local modules
#include "Parameters.h"
@ -417,7 +425,11 @@ private:
AC_AttitudeControl_Multi attitude_control;
AC_PosControl pos_control;
#if AVOIDANCE_ENABLED == ENABLED
AC_Avoid avoid;
#endif
AC_WPNav wp_nav;
AC_Circle circle_nav;

3
ArduSub/system.cpp
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@ -183,7 +183,10 @@ void Sub::init_ardupilot()
Location_Class::set_terrain(&terrain);
wp_nav.set_terrain(&terrain);
#endif
#if AVOIDANCE_ENABLED == ENABLED
wp_nav.set_avoidance(&avoid);
#endif
pos_control.set_dt(MAIN_LOOP_SECONDS);