AC_Avoidance: Add APM_BUILD_Heli

libraries/AC_Avoidance/AC_Avoid.cpp

@@ -27,7 +27,7 @@
  # define AP_AVOID_BEHAVE_DEFAULT AC_Avoid::BehaviourType::BEHAVIOR_SLIDE
 #endif
 
-#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
+#if APM_BUILD_COPTER_OR_HELI()
     # define AP_AVOID_ENABLE_Z          1
 #endif
 

libraries/AC_Avoidance/AP_OABendyRuler.cpp

@@ -32,7 +32,7 @@ const float OA_BENDYRULER_LOOKAHEAD_STEP2_MIN = 2.0f;   // step2 checks at least
 const float OA_BENDYRULER_LOOKAHEAD_PAST_DEST = 2.0f;   // lookahead length will be at least this many meters past the destination
 const float OA_BENDYRULER_LOW_SPEED_SQUARED = (0.2f * 0.2f);    // when ground course is below this speed squared, vehicle's heading will be used
 
-#define VERTICAL_ENABLED APM_BUILD_TYPE(APM_BUILD_ArduCopter)
+#define VERTICAL_ENABLED APM_BUILD_COPTER_OR_HELI()
 
 const AP_Param::GroupInfo AP_OABendyRuler::var_info[] = {
 

libraries/AC_Avoidance/AP_OADatabase.cpp

@@ -149,7 +149,7 @@ void AP_OADatabase::queue_push(const Vector3f &pos, uint32_t timestamp_ms, float
     }
 
     // check if this obstacle needs to be rejected from DB because of low altitude near home
-    #if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
+    #if APM_BUILD_COPTER_OR_HELI()
     if (!is_zero(_min_alt)) { 
         Vector2f current_pos;
         if (!AP::ahrs().get_relative_position_NE_home(current_pos)) {

libraries/AP_Avoidance/AP_Avoidance.cpp

@@ -19,7 +19,7 @@ extern const AP_HAL::HAL& hal;
     #define AP_AVOIDANCE_FAIL_DISTANCE_Z_DEFAULT        100
     #define AP_AVOIDANCE_RECOVERY_DEFAULT               RecoveryAction::RESUME_IF_AUTO_ELSE_LOITER
     #define AP_AVOIDANCE_FAIL_ACTION_DEFAULT            MAV_COLLISION_ACTION_REPORT
-#else // APM_BUILD_TYPE(APM_BUILD_ArduCopter), Rover, Boat
+#else // APM_BUILD_TYPE(APM_BUILD_ArduCopter),Heli, Rover, Boat
     #define AP_AVOIDANCE_WARN_TIME_DEFAULT              30
     #define AP_AVOIDANCE_FAIL_TIME_DEFAULT              30
     #define AP_AVOIDANCE_WARN_DISTANCE_XY_DEFAULT       300