Copter: make make/gimbal configurable on a per-board basis

ArduCopter/Copter.cpp

@@ -146,7 +146,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(lost_vehicle_check,    10,     50),
     SCHED_TASK_CLASS(GCS,                  (GCS*)&copter._gcs,          update_receive, 400, 180),
     SCHED_TASK_CLASS(GCS,                  (GCS*)&copter._gcs,          update_send,    400, 550),
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     SCHED_TASK_CLASS(AP_Mount,             &copter.camera_mount,        update,          50,  75),
 #endif
 #if CAMERA == ENABLED
@@ -260,7 +260,7 @@ void Copter::fast_loop()
     // check if we've landed or crashed
     update_land_and_crash_detectors();
 
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     // camera mount's fast update
     camera_mount.update_fast();
 #endif

ArduCopter/Copter.h

@@ -133,9 +133,9 @@
 #if PROXIMITY_ENABLED == ENABLED
  # include <AP_Proximity/AP_Proximity.h>
 #endif
-#if MOUNT == ENABLED
- #include <AP_Mount/AP_Mount.h>
-#endif
+
+#include <AP_Mount/AP_Mount.h>
+
 #if CAMERA == ENABLED
  # include <AP_Camera/AP_Camera.h>
 #endif
@@ -489,7 +489,7 @@ private:
 #endif
 
     // Camera/Antenna mount tracking and stabilisation stuff
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     AP_Mount camera_mount;
 #endif
 

ArduCopter/GCS_Mavlink.cpp

@@ -644,7 +644,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_long_t
 {
     // if the mount doesn't do pan control then yaw the entire vehicle instead:
     switch (packet.command) {
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     case MAV_CMD_DO_MOUNT_CONTROL:
         if (!copter.camera_mount.has_pan_control()) {
             copter.flightmode->auto_yaw.set_fixed_yaw(
@@ -919,7 +919,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
 void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     case MAVLINK_MSG_ID_MOUNT_CONTROL:
         if (!copter.camera_mount.has_pan_control()) {
             // if the mount doesn't do pan control then yaw the entire vehicle instead:

ArduCopter/Parameters.cpp

@@ -548,7 +548,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
     GOBJECT(ahrs,                   "AHRS_",    AP_AHRS),
 
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     // @Group: MNT
     // @Path: ../libraries/AP_Mount/AP_Mount.cpp
     GOBJECT(camera_mount,           "MNT",  AP_Mount),

ArduCopter/RC_Channel.cpp

@@ -363,7 +363,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
             break;
 
         case AUX_FUNC::RETRACT_MOUNT:
-#if MOUNT == ENABLE
+#if HAL_MOUNT_ENABLED
             switch (ch_flag) {
                 case AuxSwitchPos::HIGH:
                     copter.camera_mount.set_mode(MAV_MOUNT_MODE_RETRACT);

ArduCopter/autoyaw.cpp

@@ -140,14 +140,14 @@ void Mode::AutoYaw::set_roi(const Location &roi_location)
     if (roi_location.alt == 0 && roi_location.lat == 0 && roi_location.lng == 0) {
         // set auto yaw mode back to default assuming the active command is a waypoint command.  A more sophisticated method is required to ensure we return to the proper yaw control for the active command
         auto_yaw.set_mode_to_default(false);
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
         // switch off the camera tracking if enabled
         if (copter.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
             copter.camera_mount.set_mode_to_default();
         }
-#endif  // MOUNT == ENABLED
+#endif  // HAL_MOUNT_ENABLED
     } else {
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
         // check if mount type requires us to rotate the quad
         if (!copter.camera_mount.has_pan_control()) {
             if (roi_location.get_vector_from_origin_NEU(roi)) {
@@ -168,7 +168,7 @@ void Mode::AutoYaw::set_roi(const Location &roi_location)
         if (roi_location.get_vector_from_origin_NEU(roi)) {
             auto_yaw.set_mode(AUTO_YAW_ROI);
         }
-#endif  // MOUNT == ENABLED
+#endif  // HAL_MOUNT_ENABLED
     }
 }
 

ArduCopter/config.h

@@ -481,14 +481,6 @@
  # define CAMERA        ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// MOUNT (ANTENNA OR CAMERA)
-//
-#ifndef MOUNT
- # define MOUNT         ENABLED
-#endif
-
-
 //////////////////////////////////////////////////////////////////////////////
 // Flight mode definitions
 //

ArduCopter/mode.cpp

@@ -328,9 +328,9 @@ void Copter::exit_mode(Mode *&old_flightmode,
         if (mode_auto.mission.state() == AP_Mission::MISSION_RUNNING) {
             mode_auto.mission.stop();
         }
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
         camera_mount.set_mode_to_default();
-#endif  // MOUNT == ENABLED
+#endif  // HAL_MOUNT_ENABLED
     }
 #endif
 

ArduCopter/mode_auto.cpp

@@ -1420,7 +1420,7 @@ void ModeAuto::do_roi(const AP_Mission::Mission_Command& cmd)
 // point the camera to a specified angle
 void ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd)
 {
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     if (!copter.camera_mount.has_pan_control()) {
         auto_yaw.set_fixed_yaw(cmd.content.mount_control.yaw,0.0f,0,0);
     }

ArduCopter/system.cpp

@@ -130,7 +130,7 @@ void Copter::init_ardupilot()
     // init the optical flow sensor
     init_optflow();
 
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     // initialise camera mount
     camera_mount.init();
 #endif