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Copter: allow terrain to be excluded from build

This commit is contained in:
Randy Mackay 2015-11-14 12:38:47 +09:00
parent 2b111c2bd6
commit 731c44d053
7 changed files with 17 additions and 9 deletions
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3
ArduCopter/APM_Config.h
View File

@ -26,7 +26,8 @@
//#define CAMERA DISABLED // disable camera trigger to save 1k of flash
//#define CONFIG_SONAR DISABLED // disable sonar to save 1k of flash
//#define POSHOLD_ENABLED DISABLED // disable PosHold flight mode to save 4.5k of flash
//#define AC_RALLY DISABLED // disable rally points to save 2k of flash, and also frees rally point EEPROM for more mission commands
//#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally)
//#define AC_TERRAIN DISABLED // disable terrain library
//#define PARACHUTE DISABLED // disable parachute release to save 1k of flash
//#define EPM_ENABLED DISABLED // disable epm cargo gripper to save 500bytes of flash
//#define CLI_ENABLED DISABLED // disable the CLI (command-line-interface) to save 21K of flash space

2
ArduCopter/ArduCopter.cpp
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@ -502,7 +502,7 @@ void Copter::one_hz_loop()
check_usb_mux();
#if AP_TERRAIN_AVAILABLE
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
terrain.update();
// tell the rangefinder our height, so it can go into power saving

2
ArduCopter/Copter.cpp
View File

@ -120,7 +120,7 @@ Copter::Copter(void) :
#if PARACHUTE == ENABLED
parachute(relay),
#endif
#if AP_TERRAIN_AVAILABLE
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
terrain(ahrs, mission, rally),
#endif
#if PRECISION_LANDING == ENABLED

2
ArduCopter/Copter.h
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@ -500,7 +500,7 @@ private:
AP_LandingGear landinggear;
// terrain handling
#if AP_TERRAIN_AVAILABLE
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
AP_Terrain terrain;
#endif

8
ArduCopter/GCS_Mavlink.cpp
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@ -219,7 +219,7 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
battery_current = battery.current_amps() * 100;
}
#if AP_TERRAIN_AVAILABLE
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
switch (terrain.status()) {
case AP_Terrain::TerrainStatusDisabled:
break;
@ -642,7 +642,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
break;
case MSG_TERRAIN:
#if AP_TERRAIN_AVAILABLE
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
copter.terrain.send_request(chan);
#endif
@ -961,7 +961,7 @@ GCS_MAVLINK::data_stream_send(void)
send_message(MSG_HWSTATUS);
send_message(MSG_SYSTEM_TIME);
send_message(MSG_RANGEFINDER);
#if AP_TERRAIN_AVAILABLE
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
send_message(MSG_TERRAIN);
#endif
send_message(MSG_BATTERY2);
@ -1828,7 +1828,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_TERRAIN_DATA:
case MAVLINK_MSG_ID_TERRAIN_CHECK:
#if AP_TERRAIN_AVAILABLE
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
copter.terrain.handle_data(chan, msg);
#endif
break;

2
ArduCopter/Parameters.cpp
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@ -1056,7 +1056,7 @@ const AP_Param::Info Copter::var_info[] = {
GOBJECT(sonar, "RNGFND", RangeFinder),
#endif
#if AP_TERRAIN_AVAILABLE
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
// @Group: TERRAIN_
// @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
GOBJECT(terrain, "TERRAIN_", AP_Terrain),

7
ArduCopter/config.h
View File

@ -738,6 +738,13 @@
#define AC_RALLY ENABLED
#endif
#ifndef AC_TERRAIN
#define AC_TERRAIN ENABLED
#if !AC_RALLY
#error Terrain relies on Rally which is disabled
#endif
#endif
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//