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ArduSub: add and use AP_RPM_ENABLED

This commit is contained in:
Peter Barker 2022-07-16 09:59:13 +10:00 committed by Andrew Tridgell
parent 9c7e1c3af9
commit 48308b8156
6 changed files with 8 additions and 14 deletions
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2
ArduSub/ArduSub.cpp
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@ -95,7 +95,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_Logger, &sub.logger, periodic_tasks, 400, 300, 57),
SCHED_TASK_CLASS(AP_InertialSensor, &sub.ins, periodic, 400, 50, 60),
SCHED_TASK_CLASS(AP_Scheduler, &sub.scheduler, update_logging, 0.1, 75, 63),
#if RPM_ENABLED == ENABLED
#if AP_RPM_ENABLED
SCHED_TASK_CLASS(AP_RPM, &sub.rpm_sensor, update, 10, 200, 66),
#endif
SCHED_TASK(terrain_update, 10, 100, 72),

2
ArduSub/GCS_Mavlink.cpp
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@ -387,7 +387,7 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
MSG_MAG_CAL_PROGRESS,
MSG_EKF_STATUS_REPORT,
MSG_VIBRATION,
#if RPM_ENABLED == ENABLED
#if AP_RPM_ENABLED
MSG_RPM,
#endif
MSG_ESC_TELEMETRY,

2
ArduSub/Parameters.cpp
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@ -599,7 +599,7 @@ const AP_Param::Info Sub::var_info[] = {
GOBJECT(optflow, "FLOW", AP_OpticalFlow),
#endif
#if RPM_ENABLED == ENABLED
#if AP_RPM_ENABLED
// @Group: RPM
// @Path: ../libraries/AP_RPM/AP_RPM.cpp
GOBJECT(rpm_sensor, "RPM", AP_RPM),

6
ArduSub/Sub.h
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@ -81,7 +81,9 @@
#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
#endif
#if RPM_ENABLED == ENABLED
#include <AP_RPM/AP_RPM_config.h>
#if AP_RPM_ENABLED
#include <AP_RPM/AP_RPM.h>
#endif
@ -151,7 +153,7 @@ private:
LowPassFilterFloat alt_cm_filt; // altitude filter
} rangefinder_state = { false, false, 0, 0 };
#if RPM_ENABLED == ENABLED
#if AP_RPM_ENABLED
AP_RPM rpm_sensor;
#endif

8
ArduSub/config.h
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@ -34,14 +34,6 @@
# define CIRCLE_NAV_ENABLED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// RPM
//
#ifndef RPM_ENABLED
# define RPM_ENABLED DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// RCMAP
//

2
ArduSub/system.cpp
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@ -137,7 +137,7 @@ void Sub::init_ardupilot()
#endif
// initialise AP_RPM library
#if RPM_ENABLED == ENABLED
#if AP_RPM_ENABLED
rpm_sensor.init();
#endif