From 71f77fea6ef1204ac338714bc5fe745cb312e3ac Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 2 Jun 2022 18:28:26 +1000
Subject: [PATCH] Rover: add and use AP_CAMERA_ENABLED

---
 Rover/Parameters.cpp | 2 +-
 Rover/Rover.cpp      | 2 +-
 Rover/Rover.h        | 2 +-
 Rover/config.h       | 7 -------
 Rover/system.cpp     | 2 +-
 5 files changed, 4 insertions(+), 11 deletions(-)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index e961ee9731..246bb9be1f 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -300,7 +300,7 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
     GOBJECT(ahrs,                   "AHRS_",    AP_AHRS),
 
-#if CAMERA == ENABLED
+#if AP_CAMERA_ENABLED
     // @Group: CAM_
     // @Path: ../libraries/AP_Camera/AP_Camera.cpp
     GOBJECT(camera,                  "CAM_", AP_Camera),
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index 54777c3701..e904322e91 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -104,7 +104,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #if HAL_MOUNT_ENABLED
     SCHED_TASK_CLASS(AP_Mount,            &rover.camera_mount,     update,         50,  200,  75),
 #endif
-#if CAMERA == ENABLED
+#if AP_CAMERA_ENABLED
     SCHED_TASK_CLASS(AP_Camera,           &rover.camera,           update,         50,  200,  78),
 #endif
     SCHED_TASK(gcs_failsafe_check,     10,    200,  81),
diff --git a/Rover/Rover.h b/Rover/Rover.h
index 92cc9642dc..0c42456706 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -158,7 +158,7 @@ private:
     struct Location current_loc;
 
     // Camera
-#if CAMERA == ENABLED
+#if AP_CAMERA_ENABLED
     AP_Camera camera{MASK_LOG_CAMERA};
 #endif
 
diff --git a/Rover/config.h b/Rover/config.h
index 48b4c9aa63..62959e9102 100644
--- a/Rover/config.h
+++ b/Rover/config.h
@@ -31,13 +31,6 @@
   #error XXX
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// CAMERA control
-//
-#ifndef CAMERA
-  #define CAMERA ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // GRIPPER control
 //
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 501b47719b..c77cafc4e5 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -234,7 +234,7 @@ bool Rover::set_mode(Mode &new_mode, ModeReason reason)
     fence.manual_recovery_start();
 #endif
 
-#if CAMERA == ENABLED
+#if AP_CAMERA_ENABLED
     camera.set_is_auto_mode(control_mode->mode_number() == Mode::Number::AUTO);
 #endif