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Tools: move from HAL_NO_GCS to HAL_GCS_ENABLED

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This commit is contained in:
Peter Barker 2021-08-18 21:42:18 +10:00 committed by Peter Barker
parent 9f6b9c7519
commit 76e2db952b
7 changed files with 15 additions and 15 deletions
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10
Tools/AP_Periph/AP_Periph.cpp
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@ -92,7 +92,7 @@ void AP_Periph_FW::init()
stm32_watchdog_pat();
#ifdef HAL_NO_GCS
#if !HAL_GCS_ENABLED
hal.serial(0)->begin(AP_SERIALMANAGER_CONSOLE_BAUD, 32, 32);
#endif
hal.serial(3)->begin(115200, 128, 256);
@ -103,13 +103,13 @@ void AP_Periph_FW::init()
can_start();
#ifndef HAL_NO_GCS
#if HAL_GCS_ENABLED
stm32_watchdog_pat();
gcs().init();
#endif
serial_manager.init();
#ifndef HAL_NO_GCS
#if HAL_GCS_ENABLED
gcs().setup_console();
gcs().send_text(MAV_SEVERITY_INFO, "AP_Periph GCS Initialised!");
#endif
@ -347,7 +347,7 @@ void AP_Periph_FW::update()
rcout_init_1Hz();
#endif
#ifndef HAL_NO_GCS
#if HAL_GCS_ENABLED
gcs().send_message(MSG_HEARTBEAT);
gcs().send_message(MSG_SYS_STATUS);
#endif
@ -384,7 +384,7 @@ void AP_Periph_FW::update()
#ifdef HAL_PERIPH_ENABLE_NOTIFY
notify.update();
#endif
#ifndef HAL_NO_GCS
#if HAL_GCS_ENABLED
gcs().update_receive();
gcs().update_send();
#endif

4
Tools/AP_Periph/AP_Periph.h
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@ -23,7 +23,7 @@
#include <AP_HAL_SITL/CANSocketIface.h>
#endif
#ifndef HAL_NO_GCS
#if HAL_GCS_ENABLED
#include "GCS_MAVLink.h"
#endif
@ -219,7 +219,7 @@ public:
AP_Logger logger;
#endif
#ifndef HAL_NO_GCS
#if HAL_GCS_ENABLED
GCS_Periph _gcs;
#endif
// setup the var_info table

4
Tools/AP_Periph/GCS_MAVLink.cpp
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@ -16,7 +16,7 @@
#include "GCS_MAVLink.h"
#include "AP_Periph.h"
#ifndef HAL_NO_GCS
#if HAL_GCS_ENABLED
static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_RAW_IMU
@ -75,4 +75,4 @@ MAV_RESULT GCS_MAVLINK_Periph::handle_preflight_reboot(const mavlink_command_lon
#endif
}
#endif // #ifndef HAL_NO_GCS
#endif // #if HAL_GCS_ENABLED

4
Tools/AP_Periph/GCS_MAVLink.h
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@ -15,7 +15,7 @@
#pragma once
#include <GCS_MAVLink/GCS.h>
#ifndef HAL_NO_GCS
#if HAL_GCS_ENABLED
/*
* GCS backend used for many examples and tools
@ -89,4 +89,4 @@ private:
MAV_TYPE frame_type() const override { return MAV_TYPE_GENERIC; }
uint32_t custom_mode() const override { return 3; } // magic number
};
#endif // HAL_NO_GCS
#endif // HAL_GCS_ENABLED

2
Tools/AP_Periph/Parameters.cpp
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@ -334,7 +334,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
GSCALAR(log_bitmask, "LOG_BITMASK", 4),
#endif
#ifndef HAL_NO_GCS
#if HAL_GCS_ENABLED
// @Param: SYSID_THISMAV
// @DisplayName: MAVLink system ID of this vehicle
// @Description: Allows setting an individual system id for this vehicle to distinguish it from others on the same network

2
Tools/AP_Periph/Parameters.h
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@ -114,7 +114,7 @@ public:
AP_Int32 log_bitmask;
#endif
#ifndef HAL_NO_GCS
#if HAL_GCS_ENABLED
AP_Int16 sysid_this_mav;
#endif

4
Tools/ardupilotwaf/boards.py
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@ -70,7 +70,7 @@ class Board:
# allow GCS disable for AP_DAL example
if cfg.options.no_gcs:
env.CXXFLAGS += ['-DHAL_NO_GCS=1']
env.CXXFLAGS += ['-DHAL_GCS_ENABLED=0']
# setup for supporting onvif cam control
if cfg.options.enable_onvif:
@ -626,7 +626,7 @@ class sitl_periph_gps(sitl):
HAL_CAN_DEFAULT_NODE_ID = 0,
HAL_RAM_RESERVE_START = 0,
APJ_BOARD_ID = 100,
HAL_NO_GCS = 1,
HAL_GCS_ENABLED = 0,
HAL_LOGGING_ENABLED = 0,
HAL_LOGGING_MAVLINK_ENABLED = 0,
HAL_MISSION_ENABLED = 0,