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AC_Avoid: Mark OA_OPTIONS as a Rover-Only param

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Rishabh 2020-11-08 11:54:34 +05:30 committed by Randy Mackay
parent cb034c50a7
commit 68b6ecc59c
1 changed files with 4 additions and 8 deletions
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10
libraries/AC_Avoidance/AP_OAPathPlanner.cpp
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@ -25,9 +25,7 @@ extern const AP_HAL::HAL &hal;
// parameter defaults
const float OA_MARGIN_MAX_DEFAULT = 5;
#if APM_BUILD_TYPE(APM_BUILD_Rover)
const int16_t OA_OPTIONS_DEFAULT = 1;
#endif
const int16_t OA_OPTIONS_DEFAULT = 1;
const int16_t OA_UPDATE_MS = 1000; // path planning updates run at 1hz
const int16_t OA_TIMEOUT_MS = 3000; // results over 3 seconds old are ignored
@ -57,15 +55,13 @@ const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = {
// @Path: AP_OADatabase.cpp
AP_SUBGROUPINFO(_oadatabase, "DB_", 4, AP_OAPathPlanner, AP_OADatabase),
#if APM_BUILD_TYPE(APM_BUILD_Rover)
// @Param: OPTIONS
// @Param{Rover}: OPTIONS
// @DisplayName: Options while recovering from Object Avoidance
// @Description: Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).
// @Values: 0:Vehicle will return to its original waypoint trajectory, 1:Reset the origin of the waypoint to the present location
// @Bitmask: 0: Reset the origin of the waypoint to the present location
// @User: Standard
AP_GROUPINFO("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT),
#endif
AP_GROUPINFO_FRAME("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT, AP_PARAM_FRAME_ROVER),
// @Group: BR_
// @Path: AP_OABendyRuler.cpp