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Copter: remove ENABLE/ENABLED/DISABLE/DISABLED defines

This commit is contained in:
Peter Barker 2024-09-04 13:48:37 +10:00 committed by Peter Barker
parent 0e33a0f8f7
commit 784760342d
55 changed files with 320 additions and 328 deletions
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50
ArduCopter/APM_Config.h
View File

@ -1,33 +1,33 @@
// User specific config file. Any items listed in config.h can be overridden here.
// uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
//#define LOGGING_ENABLED DISABLED // disable logging to save 11K of flash space
//#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space
//#define AUTOTUNE_ENABLED DISABLED // disable the auto tune functionality to save 7k of flash
//#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
//#define MODE_ACRO_ENABLED DISABLED // disable acrobatic mode support
//#define MODE_AUTO_ENABLED DISABLED // disable auto mode support
//#define MODE_BRAKE_ENABLED DISABLED // disable brake mode support
//#define MODE_CIRCLE_ENABLED DISABLED // disable circle mode support
//#define MODE_DRIFT_ENABLED DISABLED // disable drift mode support
//#define MODE_FLIP_ENABLED DISABLED // disable flip mode support
//#define MODE_FOLLOW_ENABLED DISABLED // disable follow mode support
//#define MODE_GUIDED_ENABLED DISABLED // disable guided mode support
//#define MODE_GUIDED_NOGPS_ENABLED DISABLED // disable guided/nogps mode support
//#define MODE_LOITER_ENABLED DISABLED // disable loiter mode support
//#define MODE_POSHOLD_ENABLED DISABLED // disable poshold mode support
//#define MODE_RTL_ENABLED DISABLED // disable rtl mode support
//#define MODE_SMARTRTL_ENABLED DISABLED // disable smartrtl mode support
//#define MODE_SPORT_ENABLED DISABLED // disable sport mode support
//#define MODE_SYSTEMID_ENABLED DISABLED // disable system ID mode support
//#define MODE_THROW_ENABLED DISABLED // disable throw mode support
//#define MODE_ZIGZAG_ENABLED DISABLED // disable zigzag mode support
//#define OSD_ENABLED DISABLED // disable on-screen-display support
//#define LOGGING_ENABLED 0 // disable logging to save 11K of flash space
//#define MOUNT 0 // disable the camera gimbal to save 8K of flash space
//#define AUTOTUNE_ENABLED 0 // disable the auto tune functionality to save 7k of flash
//#define NAV_GUIDED 0 // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
//#define MODE_ACRO_ENABLED 0 // disable acrobatic mode support
//#define MODE_AUTO_ENABLED 0 // disable auto mode support
//#define MODE_BRAKE_ENABLED 0 // disable brake mode support
//#define MODE_CIRCLE_ENABLED 0 // disable circle mode support
//#define MODE_DRIFT_ENABLED 0 // disable drift mode support
//#define MODE_FLIP_ENABLED 0 // disable flip mode support
//#define MODE_FOLLOW_ENABLED 0 // disable follow mode support
//#define MODE_GUIDED_ENABLED 0 // disable guided mode support
//#define MODE_GUIDED_NOGPS_ENABLED 0 // disable guided/nogps mode support
//#define MODE_LOITER_ENABLED 0 // disable loiter mode support
//#define MODE_POSHOLD_ENABLED 0 // disable poshold mode support
//#define MODE_RTL_ENABLED 0 // disable rtl mode support
//#define MODE_SMARTRTL_ENABLED 0 // disable smartrtl mode support
//#define MODE_SPORT_ENABLED 0 // disable sport mode support
//#define MODE_SYSTEMID_ENABLED 0 // disable system ID mode support
//#define MODE_THROW_ENABLED 0 // disable throw mode support
//#define MODE_ZIGZAG_ENABLED 0 // disable zigzag mode support
//#define OSD_ENABLED 0 // disable on-screen-display support
// features below are disabled by default on all boards
//#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes
//#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
//#define ADVANCED_FAILSAFE ENABLED // enabled advanced failsafe which allows running a portion of the mission in failsafe events
//#define ADVANCED_FAILSAFE 1 // enabled advanced failsafe which allows running a portion of the mission in failsafe events
// other settings
//#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000)
@ -42,5 +42,5 @@
//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop(); // for code to be run at 10hz
//#define USERHOOK_SLOWLOOP userhook_SlowLoop(); // for code to be run at 3.3hz
//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop(); // for code to be run at 1hz
//#define USERHOOK_AUXSWITCH ENABLED // for code to handle user aux switches
//#define USER_PARAMS_ENABLED ENABLED // to enable user parameters
//#define USERHOOK_AUXSWITCH 1 // for code to handle user aux switches
//#define USER_PARAMS_ENABLED 1 // to enable user parameters

10
ArduCopter/AP_Arming.cpp
View File

@ -210,7 +210,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
}
// acro balance parameter check
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
if ((copter.g.acro_balance_roll > copter.attitude_control->get_angle_roll_p().kP()) || (copter.g.acro_balance_pitch > copter.attitude_control->get_angle_pitch_p().kP())) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check ACRO_BAL_ROLL/PITCH");
return false;
@ -251,7 +251,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
#endif // HELI_FRAME
// checks when using range finder for RTL
#if MODE_RTL_ENABLED == ENABLED
#if MODE_RTL_ENABLED
if (copter.mode_rtl.get_alt_type() == ModeRTL::RTLAltType::TERRAIN) {
// get terrain source from wpnav
const char *failure_template = "RTL_ALT_TYPE is above-terrain but %s";
@ -728,7 +728,7 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
copter.update_super_simple_bearing(false);
// Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
#if MODE_SMARTRTL_ENABLED == ENABLED
#if MODE_SMARTRTL_ENABLED
copter.g2.smart_rtl.set_home(copter.position_ok());
#endif
@ -815,7 +815,7 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
// send disarm command to motors
copter.motors->armed(false);
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
// reset the mission
copter.mode_auto.mission.reset();
#endif
@ -828,7 +828,7 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
copter.ap.in_arming_delay = false;
#if AUTOTUNE_ENABLED == ENABLED
#if AUTOTUNE_ENABLED
// Possibly save auto tuned parameters
copter.mode_autotune.autotune.disarmed(copter.flightmode == &copter.mode_autotune);
#endif

2
ArduCopter/Attitude.cpp
View File

@ -64,7 +64,7 @@ float Copter::get_pilot_desired_climb_rate(float throttle_control)
return 0.0f;
}
#if TOY_MODE_ENABLED == ENABLED
#if TOY_MODE_ENABLED
if (g2.toy_mode.enabled()) {
// allow throttle to be reduced after throttle arming and for
// slower descent close to the ground

24
ArduCopter/Copter.cpp
View File

@ -114,7 +114,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
FAST_TASK_CLASS(AP_InertialSensor, &copter.ins, update),
// run low level rate controllers that only require IMU data
FAST_TASK(run_rate_controller),
#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
#if AC_CUSTOMCONTROL_MULTI_ENABLED
FAST_TASK(run_custom_controller),
#endif
#if FRAME_CONFIG == HELI_FRAME
@ -159,7 +159,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(update_batt_compass, 10, 120, 15),
SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&copter.g2.rc_channels, read_aux_all, 10, 50, 18),
SCHED_TASK(arm_motors_check, 10, 50, 21),
#if TOY_MODE_ENABLED == ENABLED
#if TOY_MODE_ENABLED
SCHED_TASK_CLASS(ToyMode, &copter.g2.toy_mode, update, 10, 50, 24),
#endif
SCHED_TASK(auto_disarm_check, 10, 50, 27),
@ -176,7 +176,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK(update_altitude, 10, 100, 42),
SCHED_TASK(run_nav_updates, 50, 100, 45),
SCHED_TASK(update_throttle_hover,100, 90, 48),
#if MODE_SMARTRTL_ENABLED == ENABLED
#if MODE_SMARTRTL_ENABLED
SCHED_TASK_CLASS(ModeSmartRTL, &copter.mode_smartrtl, save_position, 3, 100, 51),
#endif
#if HAL_SPRAYER_ENABLED
@ -232,7 +232,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
#if HAL_ADSB_ENABLED
SCHED_TASK(avoidance_adsb_update, 10, 100, 138),
#endif
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
SCHED_TASK(afs_fs_check, 10, 100, 141),
#endif
#if AP_TERRAIN_AVAILABLE
@ -274,7 +274,7 @@ constexpr int8_t Copter::_failsafe_priorities[7];
#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
// set target location (for use by external control and scripting)
bool Copter::set_target_location(const Location& target_loc)
{
@ -285,11 +285,11 @@ bool Copter::set_target_location(const Location& target_loc)
return mode_guided.set_destination(target_loc);
}
#endif //MODE_GUIDED_ENABLED == ENABLED
#endif //MODE_GUIDED_ENABLED
#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if AP_SCRIPTING_ENABLED
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
// start takeoff to given altitude (for use by scripting)
bool Copter::start_takeoff(float alt)
{
@ -391,7 +391,7 @@ bool Copter::set_target_angle_and_climbrate(float roll_deg, float pitch_deg, flo
}
#endif
#if MODE_CIRCLE_ENABLED == ENABLED
#if MODE_CIRCLE_ENABLED
// circle mode controls
bool Copter::get_circle_radius(float &radius_m)
{
@ -412,7 +412,7 @@ bool Copter::set_desired_speed(float speed)
return flightmode->set_speed_xy(speed * 100.0f);
}
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
// returns true if mode supports NAV_SCRIPT_TIME mission commands
bool Copter::nav_scripting_enable(uint8_t mode)
{
@ -488,7 +488,7 @@ bool Copter::is_taking_off() const
bool Copter::current_mode_requires_mission() const
{
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
return flightmode == &mode_auto;
#else
return false;
@ -631,7 +631,7 @@ void Copter::twentyfive_hz_logging()
AP::ins().Write_IMU();
}
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
if (should_log(MASK_LOG_ATTITUDE_MED) || should_log(MASK_LOG_ATTITUDE_FAST)) {
//update autorotation log
g2.arot.Log_Write_Autorotation();
@ -702,7 +702,7 @@ void Copter::one_hz_loop()
// slowly update the PID notches with the average loop rate
attitude_control->set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
pos_control->get_accel_z_pid().set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
#if AC_CUSTOMCONTROL_MULTI_ENABLED
custom_control.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
#endif
}

72
ArduCopter/Copter.h
View File

@ -83,7 +83,7 @@
#define MOTOR_CLASS AP_MotorsMulticopter
#endif
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
#include <AC_Autorotation/AC_Autorotation.h> // Autorotation controllers
#endif
@ -115,7 +115,7 @@
# include <AC_PrecLand/AC_PrecLand.h>
# include <AC_PrecLand/AC_PrecLand_StateMachine.h>
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
# include <AP_Follow/AP_Follow.h>
#endif
#if AP_TERRAIN_AVAILABLE
@ -137,10 +137,10 @@
#include <AP_OSD/AP_OSD.h>
#endif
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
# include "afs_copter.h"
#endif
#if TOY_MODE_ENABLED == ENABLED
#if TOY_MODE_ENABLED
# include "toy_mode.h"
#endif
#if AP_WINCH_ENABLED
@ -152,7 +152,7 @@
#include <AP_Scripting/AP_Scripting.h>
#endif
#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
#if AC_CUSTOMCONTROL_MULTI_ENABLED
#include <AC_CustomControl/AC_CustomControl.h> // Custom control library
#endif
@ -183,7 +183,7 @@ public:
friend class ParametersG2;
friend class AP_Avoidance_Copter;
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
friend class AP_AdvancedFailsafe_Copter;
#endif
friend class AP_Arming_Copter;
@ -479,11 +479,11 @@ private:
AC_WPNav *wp_nav;
AC_Loiter *loiter_nav;
#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
#if AC_CUSTOMCONTROL_MULTI_ENABLED
AC_CustomControl custom_control{ahrs_view, attitude_control, motors, scheduler.get_loop_period_s()};
#endif
#if MODE_CIRCLE_ENABLED == ENABLED
#if MODE_CIRCLE_ENABLED
AC_Circle *circle_nav;
#endif
@ -665,13 +665,13 @@ private:
uint8_t &task_count,
uint32_t &log_bit) override;
#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
bool set_target_location(const Location& target_loc) override;
#endif // MODE_GUIDED_ENABLED == ENABLED
#endif // MODE_GUIDED_ENABLED
#endif // AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if AP_SCRIPTING_ENABLED
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
bool start_takeoff(float alt) override;
bool get_target_location(Location& target_loc) override;
bool update_target_location(const Location &old_loc, const Location &new_loc) override;
@ -682,12 +682,12 @@ private:
bool set_target_velaccel_NED(const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool relative_yaw) override;
bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) override;
#endif
#if MODE_CIRCLE_ENABLED == ENABLED
#if MODE_CIRCLE_ENABLED
bool get_circle_radius(float &radius_m) override;
bool set_circle_rate(float rate_dps) override;
#endif
bool set_desired_speed(float speed) override;
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
bool nav_scripting_enable(uint8_t mode) override;
bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) override;
void nav_script_time_done(uint16_t id) override;
@ -725,7 +725,7 @@ private:
uint16_t get_pilot_speed_dn() const;
void run_rate_controller();
#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
#if AC_CUSTOMCONTROL_MULTI_ENABLED
void run_custom_controller() { custom_control.update(); }
#endif
@ -801,7 +801,7 @@ private:
// failsafe.cpp
void failsafe_enable();
void failsafe_disable();
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
void afs_fs_check(void);
#endif
@ -995,7 +995,7 @@ private:
void userhook_auxSwitch2(const RC_Channel::AuxSwitchPos ch_flag);
void userhook_auxSwitch3(const RC_Channel::AuxSwitchPos ch_flag);
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
#if FRAME_CONFIG == HELI_FRAME
ModeAcro_Heli mode_acro;
#else
@ -1003,38 +1003,38 @@ private:
#endif
#endif
ModeAltHold mode_althold;
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
ModeAuto mode_auto;
#endif
#if AUTOTUNE_ENABLED == ENABLED
#if AUTOTUNE_ENABLED
ModeAutoTune mode_autotune;
#endif
#if MODE_BRAKE_ENABLED == ENABLED
#if MODE_BRAKE_ENABLED
ModeBrake mode_brake;
#endif
#if MODE_CIRCLE_ENABLED == ENABLED
#if MODE_CIRCLE_ENABLED
ModeCircle mode_circle;
#endif
#if MODE_DRIFT_ENABLED == ENABLED
#if MODE_DRIFT_ENABLED
ModeDrift mode_drift;
#endif
#if MODE_FLIP_ENABLED == ENABLED
#if MODE_FLIP_ENABLED
ModeFlip mode_flip;
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
ModeFollow mode_follow;
#endif
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
ModeGuided mode_guided;
#endif
ModeLand mode_land;
#if MODE_LOITER_ENABLED == ENABLED
#if MODE_LOITER_ENABLED
ModeLoiter mode_loiter;
#endif
#if MODE_POSHOLD_ENABLED == ENABLED
#if MODE_POSHOLD_ENABLED
ModePosHold mode_poshold;
#endif
#if MODE_RTL_ENABLED == ENABLED
#if MODE_RTL_ENABLED
ModeRTL mode_rtl;
#endif
#if FRAME_CONFIG == HELI_FRAME
@ -1042,34 +1042,34 @@ private:
#else
ModeStabilize mode_stabilize;
#endif
#if MODE_SPORT_ENABLED == ENABLED
#if MODE_SPORT_ENABLED
ModeSport mode_sport;
#endif
#if MODE_SYSTEMID_ENABLED == ENABLED
#if MODE_SYSTEMID_ENABLED
ModeSystemId mode_systemid;
#endif
#if HAL_ADSB_ENABLED
ModeAvoidADSB mode_avoid_adsb;
#endif
#if MODE_THROW_ENABLED == ENABLED
#if MODE_THROW_ENABLED
ModeThrow mode_throw;
#endif
#if MODE_GUIDED_NOGPS_ENABLED == ENABLED
#if MODE_GUIDED_NOGPS_ENABLED
ModeGuidedNoGPS mode_guided_nogps;
#endif
#if MODE_SMARTRTL_ENABLED == ENABLED
#if MODE_SMARTRTL_ENABLED
ModeSmartRTL mode_smartrtl;
#endif
#if MODE_FLOWHOLD_ENABLED == ENABLED
#if MODE_FLOWHOLD_ENABLED
ModeFlowHold mode_flowhold;
#endif
#if MODE_ZIGZAG_ENABLED == ENABLED
#if MODE_ZIGZAG_ENABLED
ModeZigZag mode_zigzag;
#endif
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
ModeAutorotate mode_autorotate;
#endif
#if MODE_TURTLE_ENABLED == ENABLED
#if MODE_TURTLE_ENABLED
ModeTurtle mode_turtle;
#endif

30
ArduCopter/GCS_Mavlink.cpp
View File

@ -155,7 +155,7 @@ void GCS_MAVLINK_Copter::send_position_target_global_int()
void GCS_MAVLINK_Copter::send_position_target_local_ned()
{
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
if (!copter.flightmode->in_guided_mode()) {
return;
}
@ -621,7 +621,7 @@ MISSION_STATE GCS_MAVLINK_Copter::mission_state(const class AP_Mission &mission)
bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
{
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
return copter.mode_auto.do_guided(cmd);
#else
return false;
@ -638,7 +638,7 @@ void GCS_MAVLINK_Copter::packetReceived(const mavlink_status_t &status,
copter.avoidance_adsb.handle_msg(msg);
}
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
// pass message to follow library
copter.g2.follow.handle_msg(msg);
#endif
@ -719,7 +719,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_preflight_reboot(const mavlink_command_int
MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_do_reposition(const mavlink_command_int_t &packet)
{
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
const bool change_modes = ((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) == MAV_DO_REPOSITION_FLAGS_CHANGE_MODE;
if (!copter.flightmode->in_guided_mode() && !change_modes) {
return MAV_RESULT_DENIED;
@ -771,7 +771,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
case MAV_CMD_DO_CHANGE_SPEED:
return handle_MAV_CMD_DO_CHANGE_SPEED(packet);
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
case MAV_CMD_DO_FOLLOW:
// param1: sysid of target to follow
if ((packet.param1 > 0) && (packet.param1 <= 255)) {
@ -812,7 +812,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
return handle_MAV_CMD_SOLO_BTN_FLY_CLICK(packet);
#endif
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
case MAV_CMD_MISSION_START:
return handle_MAV_CMD_MISSION_START(packet);
#endif
@ -841,7 +841,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
}
return MAV_RESULT_ACCEPTED;
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
case MAV_CMD_DO_RETURN_PATH_START:
if (copter.mode_auto.return_path_start_auto_RTL(ModeReason::GCS_COMMAND)) {
return MAV_RESULT_ACCEPTED;
@ -957,7 +957,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_comm
return MAV_RESULT_FAILED;
}
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet)
{
if (!is_zero(packet.param1) || !is_zero(packet.param2)) {
@ -1090,7 +1090,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(const mavlink
bool shot_mode = (!is_zero(packet.param1) && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS));
if (!shot_mode) {
#if MODE_BRAKE_ENABLED == ENABLED
#if MODE_BRAKE_ENABLED
if (copter.set_mode(Mode::Number::BRAKE, ModeReason::GCS_COMMAND)) {
copter.mode_brake.timeout_to_loiter_ms(2500);
} else {
@ -1178,7 +1178,7 @@ bool GCS_MAVLINK_Copter::sane_vel_or_acc_vector(const Vector3f &vec) const
return true;
}
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
// for mavlink SET_POSITION_TARGET messages
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE =
POSITION_TARGET_TYPEMASK_X_IGNORE |
@ -1203,7 +1203,7 @@ bool GCS_MAVLINK_Copter::sane_vel_or_acc_vector(const Vector3f &vec) const
POSITION_TARGET_TYPEMASK_FORCE_SET;
#endif
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
void GCS_MAVLINK_Copter::handle_message_set_attitude_target(const mavlink_message_t &msg)
{
// decode packet
@ -1486,13 +1486,13 @@ void GCS_MAVLINK_Copter::handle_message_set_position_target_global_int(const mav
copter.mode_guided.init(true);
}
}
#endif // MODE_GUIDED_ENABLED == ENABLED
#endif // MODE_GUIDED_ENABLED
void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
{
switch (msg.msgid) {
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
handle_message_set_attitude_target(msg);
break;
@ -1509,7 +1509,7 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
copter.terrain.handle_data(chan, msg);
break;
#endif
#if TOY_MODE_ENABLED == ENABLED
#if TOY_MODE_ENABLED
case MAVLINK_MSG_ID_NAMED_VALUE_INT:
copter.g2.toy_mode.handle_message(msg);
break;
@ -1521,7 +1521,7 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
}
MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_int_t &packet) {
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
if (GCS_MAVLINK::handle_flight_termination(packet) == MAV_RESULT_ACCEPTED) {
return MAV_RESULT_ACCEPTED;
}

4
ArduCopter/Log.cpp
View File

@ -258,7 +258,7 @@ struct PACKED log_SysIdD {
// Write an rate packet
void Copter::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z)
{
#if MODE_SYSTEMID_ENABLED == ENABLED
#if MODE_SYSTEMID_ENABLED
struct log_SysIdD pkt_sidd = {
LOG_PACKET_HEADER_INIT(LOG_SYSIDD_MSG),
time_us : AP_HAL::micros64(),
@ -292,7 +292,7 @@ struct PACKED log_SysIdS {
// Write an rate packet
void Copter::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out)
{
#if MODE_SYSTEMID_ENABLED == ENABLED
#if MODE_SYSTEMID_ENABLED
struct log_SysIdS pkt_sids = {
LOG_PACKET_HEADER_INIT(LOG_SYSIDS_MSG),
time_us : AP_HAL::micros64(),

82
ArduCopter/Parameters.cpp
View File

@ -94,7 +94,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Bitmask: 0:Roll,1:Pitch,2:Yaw,3:AccelZ
GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
#if MODE_RTL_ENABLED == ENABLED
#if MODE_RTL_ENABLED
// @Param: RTL_ALT
// @DisplayName: RTL Altitude
// @Description: The minimum alt above home the vehicle will climb to before returning. If the vehicle is flying higher than this value it will return at its current altitude.
@ -354,7 +354,7 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Advanced
ASCALAR(angle_max, "ANGLE_MAX", DEFAULT_ANGLE_MAX),
#if MODE_POSHOLD_ENABLED == ENABLED
#if MODE_POSHOLD_ENABLED
// @Param: PHLD_BRAKE_RATE
// @DisplayName: PosHold braking rate
// @Description: PosHold flight mode's rotation rate during braking in deg/sec
@ -410,7 +410,7 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Advanced
GSCALAR(rc_speed, "RC_SPEED", RC_FAST_SPEED),
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
// @Param: ACRO_BAL_ROLL
// @DisplayName: Acro Balance Roll
// @Description: rate at which roll angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the roll axis. A higher value causes faster decay of desired to actual attitude.
@ -430,7 +430,7 @@ const AP_Param::Info Copter::var_info[] = {
// ACRO_RP_EXPO moved to Command Model class
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
// @Param: ACRO_TRAINER
// @DisplayName: Acro Trainer
// @Description: Type of trainer used in acro mode
@ -487,7 +487,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Path: ../libraries/AC_WPNav/AC_Loiter.cpp
GOBJECTPTR(loiter_nav, "LOIT_", AC_Loiter),
#if MODE_CIRCLE_ENABLED == ENABLED
#if MODE_CIRCLE_ENABLED
// @Group: CIRCLE_
// @Path: ../libraries/AC_WPNav/AC_Circle.cpp
GOBJECTPTR(circle_nav, "CIRCLE_", AC_Circle),
@ -628,7 +628,7 @@ const AP_Param::Info Copter::var_info[] = {
GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
#endif
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
// @Group: MIS_
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
GOBJECTN(mode_auto.mission, mission, "MIS_", AP_Mission),
@ -684,7 +684,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT(notify, "NTF_", AP_Notify),
#if MODE_THROW_ENABLED == ENABLED
#if MODE_THROW_ENABLED
// @Param: THROW_MOT_START
// @DisplayName: Start motors before throwing is detected
// @Description: Used by Throw mode. Controls whether motors will run at the speed set by MOT_SPIN_MIN or will be stopped when armed and waiting for the throw.
@ -713,7 +713,7 @@ const AP_Param::Info Copter::var_info[] = {
GOBJECT(osd, "OSD", AP_OSD),
#endif
#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
#if AC_CUSTOMCONTROL_MULTI_ENABLED
// @Group: CC
// @Path: ../libraries/AC_CustomControl/AC_CustomControl.cpp
GOBJECT(custom_control, "CC", AC_CustomControl),
@ -748,7 +748,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_SUBGROUPPTR(button_ptr, "BTN_", 2, ParametersG2, AP_Button),
#endif
#if MODE_THROW_ENABLED == ENABLED
#if MODE_THROW_ENABLED
// @Param: THROW_NEXTMODE
// @DisplayName: Throw mode's follow up mode
// @Description: Vehicle will switch to this mode after the throw is successfully completed. Default is to stay in throw mode (18)
@ -771,7 +771,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Advanced
AP_GROUPINFO("GND_EFFECT_COMP", 5, ParametersG2, gndeffect_comp_enabled, 1),
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
// @Group: AFS_
// @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
AP_SUBGROUPINFO(afs, "AFS_", 6, ParametersG2, AP_AdvancedFailsafe),
@ -798,7 +798,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// ACRO_Y_EXPO (9) moved to Command Model Class
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
// @Param: ACRO_THR_MID
// @DisplayName: Acro Thr Mid
// @Description: Acro Throttle Mid
@ -842,13 +842,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_SUBGROUPINFO(temp_calibration, "TCAL", 19, ParametersG2, AP_TempCalibration),
#endif
#if TOY_MODE_ENABLED == ENABLED
#if TOY_MODE_ENABLED
// @Group: TMODE
// @Path: toy_mode.cpp
AP_SUBGROUPINFO(toy_mode, "TMODE", 20, ParametersG2, ToyMode),
#endif
#if MODE_SMARTRTL_ENABLED == ENABLED
#if MODE_SMARTRTL_ENABLED
// @Group: SRTL_
// @Path: ../libraries/AP_SmartRTL/AP_SmartRTL.cpp
AP_SUBGROUPINFO(smart_rtl, "SRTL_", 21, ParametersG2, AP_SmartRTL),
@ -880,23 +880,23 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Advanced
AP_GROUPINFO("LAND_ALT_LOW", 25, ParametersG2, land_alt_low, 1000),
#if MODE_FLOWHOLD_ENABLED == ENABLED
#if MODE_FLOWHOLD_ENABLED
// @Group: FHLD
// @Path: mode_flowhold.cpp
AP_SUBGROUPPTR(mode_flowhold_ptr, "FHLD", 26, ParametersG2, ModeFlowHold),
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
// @Group: FOLL
// @Path: ../libraries/AP_Follow/AP_Follow.cpp
AP_SUBGROUPINFO(follow, "FOLL", 27, ParametersG2, AP_Follow),
#endif
#if USER_PARAMS_ENABLED == ENABLED
#if USER_PARAMS_ENABLED
AP_SUBGROUPINFO(user_parameters, "USR", 28, ParametersG2, UserParameters),
#endif
#if AUTOTUNE_ENABLED == ENABLED
#if AUTOTUNE_ENABLED
// @Group: AUTOTUNE_
// @Path: ../libraries/AC_AutoTune/AC_AutoTune_Multi.cpp,../libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
AP_SUBGROUPPTR(autotune_ptr, "AUTOTUNE_", 29, ParametersG2, AutoTune),
@ -922,7 +922,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_SUBGROUPINFO(oa, "OA_", 33, ParametersG2, AP_OAPathPlanner),
#endif
#if MODE_SYSTEMID_ENABLED == ENABLED
#if MODE_SYSTEMID_ENABLED
// @Group: SID
// @Path: mode_systemid.cpp
AP_SUBGROUPPTR(mode_systemid_ptr, "SID", 34, ParametersG2, ModeSystemId),
@ -942,19 +942,19 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Advanced
AP_GROUPINFO("FS_OPTIONS", 36, ParametersG2, fs_options, (float)Copter::FailsafeOption::GCS_CONTINUE_IF_PILOT_CONTROL),
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
// @Group: AROT_
// @Path: ../libraries/AC_Autorotation/AC_Autorotation.cpp
AP_SUBGROUPINFO(arot, "AROT_", 37, ParametersG2, AC_Autorotation),
#endif
#if MODE_ZIGZAG_ENABLED == ENABLED
#if MODE_ZIGZAG_ENABLED
// @Group: ZIGZ_
// @Path: mode_zigzag.cpp
AP_SUBGROUPPTR(mode_zigzag_ptr, "ZIGZ_", 38, ParametersG2, ModeZigZag),
#endif
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
// @Param: ACRO_OPTIONS
// @DisplayName: Acro mode options
// @Description: A range of options that can be applied to change acro mode behaviour. Air-mode enables ATC_THR_MIX_MAN at all times (air-mode has no effect on helicopters). Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only.
@ -963,7 +963,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_GROUPINFO("ACRO_OPTIONS", 39, ParametersG2, acro_options, 0),
#endif
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
// @Param: AUTO_OPTIONS
// @DisplayName: Auto mode options
// @Description: A range of options that can be applied to change auto mode behaviour. Allow Arming allows the copter to be armed in Auto. Allow Takeoff Without Raising Throttle allows takeoff without the pilot having to raise the throttle. Ignore pilot yaw overrides the pilot's yaw stick being used while in auto.
@ -972,7 +972,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_GROUPINFO("AUTO_OPTIONS", 40, ParametersG2, auto_options, 0),
#endif
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
// @Param: GUID_OPTIONS
// @DisplayName: Guided mode options
// @Description: Options that can be applied to change guided mode behaviour
@ -990,7 +990,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Standard
AP_GROUPINFO("FS_GCS_TIMEOUT", 42, ParametersG2, fs_gcs_timeout, 5),
#if MODE_RTL_ENABLED == ENABLED
#if MODE_RTL_ENABLED
// @Param: RTL_OPTIONS
// @DisplayName: RTL mode options
// @Description: Options that can be applied to change RTL mode behaviour
@ -1018,7 +1018,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_GROUPINFO("RNGFND_FILT", 45, ParametersG2, rangefinder_filt, RANGEFINDER_FILT_DEFAULT),
#endif
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
// @Param: GUID_TIMEOUT
// @DisplayName: Guided mode timeout
// @Description: Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller. Only applicable during any combination of velocity, acceleration, angle control, and/or angular rate control
@ -1054,7 +1054,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Standard
AP_GROUPINFO("FS_DR_TIMEOUT", 53, ParametersG2, failsafe_dr_timeout, 30),
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
// @Param: ACRO_RP_RATE
// @DisplayName: Acro Roll and Pitch Rate
// @Description: Acro mode maximum roll and pitch rate. Higher values mean faster rate of rotation
@ -1080,7 +1080,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_SUBGROUPINFO(command_model_acro_rp, "ACRO_RP_", 54, ParametersG2, AC_CommandModel),
#endif
#if MODE_ACRO_ENABLED == ENABLED || MODE_DRIFT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_DRIFT_ENABLED
// @Param: ACRO_Y_RATE
// @DisplayName: Acro Yaw Rate
// @Description: Acro mode maximum yaw rate. Higher value means faster rate of rotation
@ -1147,7 +1147,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_GROUPINFO("TKOFF_RPM_MIN", 58, ParametersG2, takeoff_rpm_min, 0),
#endif
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
// @Group: WVANE_
// @Path: ../libraries/AC_AttitudeControl/AC_WeatherVane.cpp
AP_SUBGROUPINFO(weathervane, "WVANE_", 59, ParametersG2, AC_WeatherVane),
@ -1251,46 +1251,46 @@ ParametersG2::ParametersG2(void)
#if HAL_PROXIMITY_ENABLED
, proximity()
#endif
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
,afs()
#endif
#if MODE_SMARTRTL_ENABLED == ENABLED
#if MODE_SMARTRTL_ENABLED
,smart_rtl()
#endif
#if MODE_FLOWHOLD_ENABLED == ENABLED
#if MODE_FLOWHOLD_ENABLED
,mode_flowhold_ptr(&copter.mode_flowhold)
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
,follow()
#endif
#if USER_PARAMS_ENABLED == ENABLED
#if USER_PARAMS_ENABLED
,user_parameters()
#endif
#if AUTOTUNE_ENABLED == ENABLED
#if AUTOTUNE_ENABLED
,autotune_ptr(&copter.mode_autotune.autotune)
#endif
#if MODE_SYSTEMID_ENABLED == ENABLED
#if MODE_SYSTEMID_ENABLED
,mode_systemid_ptr(&copter.mode_systemid)
#endif
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
,arot()
#endif
#if HAL_BUTTON_ENABLED
,button_ptr(&copter.button)
#endif
#if MODE_ZIGZAG_ENABLED == ENABLED
#if MODE_ZIGZAG_ENABLED
,mode_zigzag_ptr(&copter.mode_zigzag)
#endif
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
,command_model_acro_rp(ACRO_RP_RATE_DEFAULT, ACRO_RP_EXPO_DEFAULT, 0.0f)
#endif
#if MODE_ACRO_ENABLED == ENABLED || MODE_DRIFT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_DRIFT_ENABLED
,command_model_acro_y(ACRO_Y_RATE_DEFAULT, ACRO_Y_EXPO_DEFAULT, 0.0f)
#endif
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
,weathervane()
#endif
{
@ -1345,7 +1345,7 @@ void Copter::load_parameters(void)
convert_lgr_parameters();
#endif
#if MODE_RTL_ENABLED == ENABLED
#if MODE_RTL_ENABLED
// PARAMETER_CONVERSION - Added: Sep-2021
g.rtl_altitude.convert_parameter_width(AP_PARAM_INT16);
#endif

52
ArduCopter/Parameters.h
View File

@ -6,10 +6,10 @@
#include "RC_Channel.h"
#include <AP_Proximity/AP_Proximity.h>
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
# include <AP_Follow/AP_Follow.h>
#endif
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
#include <AC_AttitudeControl/AC_WeatherVane.h>
#endif
@ -398,7 +398,7 @@ public:
AP_Int16 throttle_behavior;
AP_Float pilot_takeoff_alt;
#if MODE_RTL_ENABLED == ENABLED
#if MODE_RTL_ENABLED
AP_Int32 rtl_altitude;
AP_Int16 rtl_speed_cms;
AP_Float rtl_cone_slope;
@ -415,7 +415,7 @@ public:
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
#if MODE_POSHOLD_ENABLED == ENABLED
#if MODE_POSHOLD_ENABLED
AP_Int16 poshold_brake_rate; // PosHold flight mode's rotation rate during braking in deg/sec
AP_Int16 poshold_brake_angle_max; // PosHold flight mode's max lean angle during braking in centi-degrees
#endif
@ -459,7 +459,7 @@ public:
AP_Float fs_ekf_thresh;
AP_Int16 gcs_pid_mask;
#if MODE_THROW_ENABLED == ENABLED
#if MODE_THROW_ENABLED
AP_Enum<ModeThrow::PreThrowMotorState> throw_motor_start;
AP_Int16 throw_altitude_min; // minimum altitude in m above which a throw can be detected
AP_Int16 throw_altitude_max; // maximum altitude in m below which a throw can be detected
@ -467,13 +467,13 @@ public:
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
// Acro parameters
AP_Float acro_balance_roll;
AP_Float acro_balance_pitch;
#endif
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
// Acro parameters
AP_Int8 acro_trainer;
#endif
@ -504,7 +504,7 @@ public:
AP_Button *button_ptr;
#endif
#if MODE_THROW_ENABLED == ENABLED
#if MODE_THROW_ENABLED
// Throw mode parameters
AP_Int8 throw_nextmode;
AP_Enum<ModeThrow::ThrowType> throw_type;
@ -531,7 +531,7 @@ public:
// whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce;
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
// advanced failsafe library
AP_AdvancedFailsafe_Copter afs;
#endif
@ -539,7 +539,7 @@ public:
// developer options
AP_Int32 dev_options;
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
AP_Float acro_thr_mid;
#endif
@ -552,7 +552,7 @@ public:
// control over servo output ranges
SRV_Channels servo_channels;
#if MODE_SMARTRTL_ENABLED == ENABLED
#if MODE_SMARTRTL_ENABLED
// Safe RTL library
AP_SmartRTL smart_rtl;
#endif
@ -568,7 +568,7 @@ public:
// Land alt final stage
AP_Int16 land_alt_low;
#if TOY_MODE_ENABLED == ENABLED
#if TOY_MODE_ENABLED
ToyMode toy_mode;
#endif
@ -577,17 +577,17 @@ public:
void *mode_flowhold_ptr;
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
// follow
AP_Follow follow;
#endif
#if USER_PARAMS_ENABLED == ENABLED
#if USER_PARAMS_ENABLED
// User custom parameters
UserParameters user_parameters;
#endif
#if AUTOTUNE_ENABLED == ENABLED
#if AUTOTUNE_ENABLED
// we need a pointer to autotune for the G2 table
void *autotune_ptr;
#endif
@ -600,7 +600,7 @@ public:
AP_OAPathPlanner oa;
#endif
#if MODE_SYSTEMID_ENABLED == ENABLED
#if MODE_SYSTEMID_ENABLED
// we need a pointer to the mode for the G2 table
void *mode_systemid_ptr;
#endif
@ -611,42 +611,42 @@ public:
// Failsafe options bitmask #36
AP_Int32 fs_options;
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
// Autonmous autorotation
AC_Autorotation arot;
#endif
#if MODE_ZIGZAG_ENABLED == ENABLED
#if MODE_ZIGZAG_ENABLED
// we need a pointer to the mode for the G2 table
void *mode_zigzag_ptr;
#endif
// command model parameters
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
AC_CommandModel command_model_acro_rp;
#endif
#if MODE_ACRO_ENABLED == ENABLED || MODE_DRIFT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_DRIFT_ENABLED
AC_CommandModel command_model_acro_y;
#endif
AC_CommandModel command_model_pilot;
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
AP_Int8 acro_options;
#endif
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
AP_Int32 auto_options;
#endif
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
AP_Int32 guided_options;
#endif
AP_Float fs_gcs_timeout;
#if MODE_RTL_ENABLED == ENABLED
#if MODE_RTL_ENABLED
AP_Int32 rtl_options;
#endif
@ -656,7 +656,7 @@ public:
AP_Float rangefinder_filt;
#endif
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
AP_Float guided_timeout;
#endif
@ -676,7 +676,7 @@ public:
// EKF variance filter cutoff
AP_Float fs_ekf_filt_hz;
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
AC_WeatherVane weathervane;
#endif

38
ArduCopter/RC_Channel.cpp
View File

@ -190,7 +190,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
break;
}
#if MODE_RTL_ENABLED == ENABLED
#if MODE_RTL_ENABLED
case AUX_FUNC::RTL:
do_aux_function_change_mode(Mode::Number::RTL, ch_flag);
break;
@ -204,7 +204,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
}
break;
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
case AUX_FUNC::SAVE_WP:
// save waypoint when switch is brought high
if (ch_flag == RC_Channel::AuxSwitchPos::HIGH) {
@ -272,7 +272,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
break;
#endif
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
case AUX_FUNC::ACRO_TRAINER:
switch(ch_flag) {
case AuxSwitchPos::LOW:
@ -291,7 +291,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
break;
#endif
#if AUTOTUNE_ENABLED == ENABLED
#if AUTOTUNE_ENABLED
case AUX_FUNC::AUTOTUNE_MODE:
do_aux_function_change_mode(Mode::Number::AUTOTUNE, ch_flag);
break;
@ -383,19 +383,19 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
break;
#endif
#if MODE_BRAKE_ENABLED == ENABLED
#if MODE_BRAKE_ENABLED
case AUX_FUNC::BRAKE:
do_aux_function_change_mode(Mode::Number::BRAKE, ch_flag);
break;
#endif
#if MODE_THROW_ENABLED == ENABLED
#if MODE_THROW_ENABLED
case AUX_FUNC::THROW:
do_aux_function_change_mode(Mode::Number::THROW, ch_flag);
break;
#endif
#if AC_PRECLAND_ENABLED && MODE_LOITER_ENABLED == ENABLED
#if AC_PRECLAND_ENABLED && MODE_LOITER_ENABLED
case AUX_FUNC::PRECISION_LOITER:
switch (ch_flag) {
case AuxSwitchPos::HIGH:
@ -411,7 +411,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
break;
#endif
#if MODE_SMARTRTL_ENABLED == ENABLED
#if MODE_SMARTRTL_ENABLED
case AUX_FUNC::SMART_RTL:
do_aux_function_change_mode(Mode::Number::SMART_RTL, ch_flag);
break;
@ -471,7 +471,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
break;
#endif
#if MODE_ZIGZAG_ENABLED == ENABLED
#if MODE_ZIGZAG_ENABLED
case AUX_FUNC::ZIGZAG:
do_aux_function_change_mode(Mode::Number::ZIGZAG, ch_flag);
break;
@ -499,7 +499,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
do_aux_function_change_mode(Mode::Number::STABILIZE, ch_flag);
break;
#if MODE_POSHOLD_ENABLED == ENABLED
#if MODE_POSHOLD_ENABLED
case AUX_FUNC::POSHOLD:
do_aux_function_change_mode(Mode::Number::POSHOLD, ch_flag);
break;
@ -509,7 +509,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
do_aux_function_change_mode(Mode::Number::ALT_HOLD, ch_flag);
break;
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
case AUX_FUNC::ACRO:
do_aux_function_change_mode(Mode::Number::ACRO, ch_flag);
break;
@ -521,13 +521,13 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
break;
#endif
#if MODE_CIRCLE_ENABLED == ENABLED
#if MODE_CIRCLE_ENABLED
case AUX_FUNC::CIRCLE:
do_aux_function_change_mode(Mode::Number::CIRCLE, ch_flag);
break;
#endif
#if MODE_DRIFT_ENABLED == ENABLED
#if MODE_DRIFT_ENABLED
case AUX_FUNC::DRIFT:
do_aux_function_change_mode(Mode::Number::DRIFT, ch_flag);
break;
@ -580,7 +580,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
}
break;
#if MODE_ZIGZAG_ENABLED == ENABLED
#if MODE_ZIGZAG_ENABLED
case AUX_FUNC::ZIGZAG_Auto:
if (copter.flightmode == &copter.mode_zigzag) {
switch (ch_flag) {
@ -597,7 +597,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
case AUX_FUNC::AIRMODE:
do_aux_function_change_air_mode(ch_flag);
#if MODE_ACRO_ENABLED == ENABLED && FRAME_CONFIG != HELI_FRAME
#if MODE_ACRO_ENABLED && FRAME_CONFIG != HELI_FRAME
copter.mode_acro.air_mode_aux_changed();
#endif
break;
@ -606,13 +606,13 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
do_aux_function_change_force_flying(ch_flag);
break;
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
case AUX_FUNC::AUTO_RTL:
do_aux_function_change_mode(Mode::Number::AUTO_RTL, ch_flag);
break;
#endif
#if MODE_TURTLE_ENABLED == ENABLED
#if MODE_TURTLE_ENABLED
case AUX_FUNC::TURTLE:
do_aux_function_change_mode(Mode::Number::TURTLE, ch_flag);
break;
@ -632,13 +632,13 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
}
break;
#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
#if AC_CUSTOMCONTROL_MULTI_ENABLED
case AUX_FUNC::CUSTOM_CONTROLLER:
copter.custom_control.set_custom_controller(ch_flag == AuxSwitchPos::HIGH);
break;
#endif
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
case AUX_FUNC::WEATHER_VANE_ENABLE: {
switch (ch_flag) {
case AuxSwitchPos::HIGH:

2
ArduCopter/UserParameters.cpp
View File

@ -1,7 +1,7 @@
#include "UserParameters.h"
#include "config.h"
#if USER_PARAMS_ENABLED == ENABLED
#if USER_PARAMS_ENABLED
// "USR" + 13 chars remaining for param name
const AP_Param::GroupInfo UserParameters::var_info[] = {

2
ArduCopter/afs_copter.cpp
View File

@ -4,7 +4,7 @@
#include "Copter.h"
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
/*
setup radio_out values for all channels to termination values

2
ArduCopter/afs_copter.h
View File

@ -18,7 +18,7 @@
advanced failsafe support for copter
*/
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
/*

6
ArduCopter/autoyaw.cpp
View File

@ -323,7 +323,7 @@ AC_AttitudeControl::HeadingCommand Mode::AutoYaw::get_heading()
auto_yaw.set_mode(AutoYaw::Mode::HOLD);
}
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
update_weathervane(_pilot_yaw_rate_cds);
#endif
@ -354,7 +354,7 @@ AC_AttitudeControl::HeadingCommand Mode::AutoYaw::get_heading()
// handle the interface to the weathervane library
// pilot_yaw can be an angle or a rate or rcin from yaw channel. It just needs to represent a pilot's request to yaw the vehicle to enable pilot overrides.
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
void Mode::AutoYaw::update_weathervane(const int16_t pilot_yaw_cds)
{
if (!copter.flightmode->allows_weathervaning()) {
@ -382,4 +382,4 @@ void Mode::AutoYaw::update_weathervane(const int16_t pilot_yaw_cds)
}
}
}
#endif // WEATHERVANE_ENABLED == ENABLED
#endif // WEATHERVANE_ENABLED

4
ArduCopter/avoidance_adsb.cpp
View File

@ -25,7 +25,7 @@ MAV_COLLISION_ACTION AP_Avoidance_Copter::handle_avoidance(const AP_Avoidance::O
// take no action in some flight modes
if (copter.flightmode->mode_number() == Mode::Number::LAND ||
#if MODE_THROW_ENABLED == ENABLED
#if MODE_THROW_ENABLED
copter.flightmode->mode_number() == Mode::Number::THROW ||
#endif
copter.flightmode->mode_number() == Mode::Number::FLIP) {
@ -148,7 +148,7 @@ void AP_Avoidance_Copter::set_mode_else_try_RTL_else_LAND(Mode::Number mode)
int32_t AP_Avoidance_Copter::get_altitude_minimum() const
{
#if MODE_RTL_ENABLED == ENABLED
#if MODE_RTL_ENABLED
// do not descend if below RTL alt
return copter.g.rtl_altitude;
#else

4
ArduCopter/commands.cpp
View File

@ -30,7 +30,7 @@ void Copter::set_home_to_current_location_inflight() {
return;
}
// we have successfully set AHRS home, set it for SmartRTL
#if MODE_SMARTRTL_ENABLED == ENABLED
#if MODE_SMARTRTL_ENABLED
g2.smart_rtl.set_home(true);
#endif
}
@ -45,7 +45,7 @@ bool Copter::set_home_to_current_location(bool lock) {
return false;
}
// we have successfully set AHRS home, set it for SmartRTL
#if MODE_SMARTRTL_ENABLED == ENABLED
#if MODE_SMARTRTL_ENABLED
g2.smart_rtl.set_home(true);
#endif
return true;

52
ArduCopter/config.h
View File

@ -117,101 +117,101 @@
//////////////////////////////////////////////////////////////////////////////
// Auto Tuning
#ifndef AUTOTUNE_ENABLED
# define AUTOTUNE_ENABLED ENABLED
# define AUTOTUNE_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Nav-Guided - allows external nav computer to control vehicle
#ifndef AC_NAV_GUIDED
# define AC_NAV_GUIDED ENABLED
# define AC_NAV_GUIDED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Acro - fly vehicle in acrobatic mode
#ifndef MODE_ACRO_ENABLED
# define MODE_ACRO_ENABLED ENABLED
# define MODE_ACRO_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Auto mode - allows vehicle to trace waypoints and perform automated actions
#ifndef MODE_AUTO_ENABLED
# define MODE_AUTO_ENABLED ENABLED
# define MODE_AUTO_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Brake mode - bring vehicle to stop
#ifndef MODE_BRAKE_ENABLED
# define MODE_BRAKE_ENABLED ENABLED
# define MODE_BRAKE_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Circle - fly vehicle around a central point
#ifndef MODE_CIRCLE_ENABLED
# define MODE_CIRCLE_ENABLED ENABLED
# define MODE_CIRCLE_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Drift - fly vehicle in altitude-held, coordinated-turn mode
#ifndef MODE_DRIFT_ENABLED
# define MODE_DRIFT_ENABLED ENABLED
# define MODE_DRIFT_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// flip - fly vehicle in flip in pitch and roll direction mode
#ifndef MODE_FLIP_ENABLED
# define MODE_FLIP_ENABLED ENABLED
# define MODE_FLIP_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Follow - follow another vehicle or GCS
#ifndef MODE_FOLLOW_ENABLED
#if AP_FOLLOW_ENABLED && AP_AVOIDANCE_ENABLED
#define MODE_FOLLOW_ENABLED ENABLED
#define MODE_FOLLOW_ENABLED 1
#else
#define MODE_FOLLOW_ENABLED DISABLED
#define MODE_FOLLOW_ENABLED 0
#endif
#endif
//////////////////////////////////////////////////////////////////////////////
// Guided mode - control vehicle's position or angles from GCS
#ifndef MODE_GUIDED_ENABLED
# define MODE_GUIDED_ENABLED ENABLED
# define MODE_GUIDED_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// GuidedNoGPS mode - control vehicle's angles from GCS
#ifndef MODE_GUIDED_NOGPS_ENABLED
# define MODE_GUIDED_NOGPS_ENABLED ENABLED
# define MODE_GUIDED_NOGPS_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Loiter mode - allows vehicle to hold global position
#ifndef MODE_LOITER_ENABLED
# define MODE_LOITER_ENABLED ENABLED
# define MODE_LOITER_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Position Hold - enable holding of global position
#ifndef MODE_POSHOLD_ENABLED
# define MODE_POSHOLD_ENABLED ENABLED
# define MODE_POSHOLD_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// RTL - Return To Launch
#ifndef MODE_RTL_ENABLED
# define MODE_RTL_ENABLED ENABLED
# define MODE_RTL_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// SmartRTL - allows vehicle to retrace a (loop-eliminated) breadcrumb home
#ifndef MODE_SMARTRTL_ENABLED
# define MODE_SMARTRTL_ENABLED ENABLED
# define MODE_SMARTRTL_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// Sport - fly vehicle in rate-controlled (earth-frame) mode
#ifndef MODE_SPORT_ENABLED
# define MODE_SPORT_ENABLED DISABLED
# define MODE_SPORT_ENABLED 0
#endif
//////////////////////////////////////////////////////////////////////////////
@ -223,13 +223,13 @@
//////////////////////////////////////////////////////////////////////////////
// Throw - fly vehicle after throwing it in the air
#ifndef MODE_THROW_ENABLED
# define MODE_THROW_ENABLED ENABLED
# define MODE_THROW_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
// ZigZag - allow vehicle to fly in a zigzag manner with predefined point A B
#ifndef MODE_ZIGZAG_ENABLED
# define MODE_ZIGZAG_ENABLED ENABLED
# define MODE_ZIGZAG_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
@ -249,7 +249,7 @@
//////////////////////////////////////////////////////////////////////////////
// Weathervane - allow vehicle to yaw into wind
#ifndef WEATHERVANE_ENABLED
# define WEATHERVANE_ENABLED ENABLED
# define WEATHERVANE_ENABLED 1
#endif
//////////////////////////////////////////////////////////////////////////////
@ -260,13 +260,13 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#if FRAME_CONFIG == HELI_FRAME
#ifndef MODE_AUTOROTATE_ENABLED
# define MODE_AUTOROTATE_ENABLED ENABLED
# define MODE_AUTOROTATE_ENABLED 1
#endif
#else
# define MODE_AUTOROTATE_ENABLED DISABLED
# define MODE_AUTOROTATE_ENABLED 0
#endif
#else
# define MODE_AUTOROTATE_ENABLED DISABLED
# define MODE_AUTOROTATE_ENABLED 0
#endif
#endif
@ -575,7 +575,7 @@
//
#ifndef ADVANCED_FAILSAFE
# define ADVANCED_FAILSAFE DISABLED
# define ADVANCED_FAILSAFE 0
#endif
#ifndef CH_MODE_DEFAULT
@ -583,7 +583,7 @@
#endif
#ifndef TOY_MODE_ENABLED
#define TOY_MODE_ENABLED DISABLED
#define TOY_MODE_ENABLED 0
#endif
#if TOY_MODE_ENABLED && FRAME_CONFIG == HELI_FRAME
@ -603,5 +603,5 @@
#endif
#ifndef USER_PARAMS_ENABLED
#define USER_PARAMS_ENABLED DISABLED
#define USER_PARAMS_ENABLED 0
#endif

2
ArduCopter/crash_check.cpp
View File

@ -47,7 +47,7 @@ void Copter::crash_check()
return;
}
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
//return immediately if in autorotation mode
if (flightmode->mode_number() == Mode::Number::AUTOROTATE) {
crash_counter = 0;

8
ArduCopter/defines.h
View File

@ -2,14 +2,6 @@
#include <AP_HAL/AP_HAL_Boards.h>
// Just so that it's completely clear...
#define ENABLED 1
#define DISABLED 0
// this avoids a very common config error
#define ENABLE ENABLED
#define DISABLE DISABLED
// Frame types
#define UNDEFINED_FRAME 0
#define MULTICOPTER_FRAME 1

8
ArduCopter/events.cpp
View File

@ -286,7 +286,7 @@ void Copter::failsafe_terrain_on_event()
if (should_disarm_on_failsafe()) {
arming.disarm(AP_Arming::Method::TERRAINFAILSAFE);
#if MODE_RTL_ENABLED == ENABLED
#if MODE_RTL_ENABLED
} else if (flightmode->mode_number() == Mode::Number::RTL) {
mode_rtl.restart_without_terrain();
#endif
@ -425,7 +425,7 @@ void Copter::set_mode_SmartRTL_or_RTL(ModeReason reason)
// This can come from failsafe or RC option
void Copter::set_mode_auto_do_land_start_or_RTL(ModeReason reason)
{
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
if (set_mode(Mode::Number::AUTO_RTL, reason)) {
AP_Notify::events.failsafe_mode_change = 1;
return;
@ -440,7 +440,7 @@ void Copter::set_mode_auto_do_land_start_or_RTL(ModeReason reason)
// This can come from failsafe or RC option
void Copter::set_mode_brake_or_land_with_pause(ModeReason reason)
{
#if MODE_BRAKE_ENABLED == ENABLED
#if MODE_BRAKE_ENABLED
if (set_mode(Mode::Number::BRAKE, reason)) {
AP_Notify::events.failsafe_mode_change = 1;
return;
@ -492,7 +492,7 @@ void Copter::do_failsafe_action(FailsafeAction action, ModeReason reason){
set_mode_SmartRTL_or_land_with_pause(reason);
break;
case FailsafeAction::TERMINATE: {
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
g2.afs.gcs_terminate(true, "Failsafe");
#else
arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);

2
ArduCopter/failsafe.cpp
View File

@ -72,7 +72,7 @@ void Copter::failsafe_check()
}
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
/*
check for AFS failsafe check
*/

2
ArduCopter/heli.cpp
View File

@ -191,7 +191,7 @@ void Copter::heli_update_autorotation()
{
// check if flying and interlock disengaged
if (!ap.land_complete && !motors->get_interlock()) {
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
if (g2.arot.is_enable()) {
if (!flightmode->has_manual_throttle()) {
// set autonomous autorotation flight mode

2
ArduCopter/land_detector.cpp
View File

@ -83,7 +83,7 @@ void Copter::update_land_detector()
const bool landing = flightmode->is_landing();
SET_LOG_FLAG(landing, LandDetectorLoggingFlag::LANDING);
bool motor_at_lower_limit = (flightmode->has_manual_throttle() && (motors->get_below_land_min_coll() || heli_flags.coll_stk_low) && fabsf(ahrs.get_roll()) < M_PI/2.0f)
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
|| (flightmode->mode_number() == Mode::Number::AUTOROTATE && motors->get_below_land_min_coll())
#endif
|| ((!get_force_flying() || landing) && motors->limit.throttle_lower && pos_control->get_vel_desired_cms().z < 0.0f);

52
ArduCopter/mode.cpp
View File

@ -35,7 +35,7 @@ Mode *Copter::mode_from_mode_num(const Mode::Number mode)
Mode *ret = nullptr;
switch (mode) {
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
case Mode::Number::ACRO:
ret = &mode_acro;
break;
@ -49,25 +49,25 @@ Mode *Copter::mode_from_mode_num(const Mode::Number mode)
ret = &mode_althold;
break;
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
case Mode::Number::AUTO:
ret = &mode_auto;
break;
#endif
#if MODE_CIRCLE_ENABLED == ENABLED
#if MODE_CIRCLE_ENABLED
case Mode::Number::CIRCLE:
ret = &mode_circle;
break;
#endif
#if MODE_LOITER_ENABLED == ENABLED
#if MODE_LOITER_ENABLED
case Mode::Number::LOITER:
ret = &mode_loiter;
break;
#endif
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
case Mode::Number::GUIDED:
ret = &mode_guided;
break;
@ -77,49 +77,49 @@ Mode *Copter::mode_from_mode_num(const Mode::Number mode)
ret = &mode_land;
break;
#if MODE_RTL_ENABLED == ENABLED
#if MODE_RTL_ENABLED
case Mode::Number::RTL:
ret = &mode_rtl;
break;
#endif
#if MODE_DRIFT_ENABLED == ENABLED
#if MODE_DRIFT_ENABLED
case Mode::Number::DRIFT:
ret = &mode_drift;
break;
#endif
#if MODE_SPORT_ENABLED == ENABLED
#if MODE_SPORT_ENABLED
case Mode::Number::SPORT:
ret = &mode_sport;
break;
#endif
#if MODE_FLIP_ENABLED == ENABLED
#if MODE_FLIP_ENABLED
case Mode::Number::FLIP:
ret = &mode_flip;
break;
#endif
#if AUTOTUNE_ENABLED == ENABLED
#if AUTOTUNE_ENABLED
case Mode::Number::AUTOTUNE:
ret = &mode_autotune;
break;
#endif
#if MODE_POSHOLD_ENABLED == ENABLED
#if MODE_POSHOLD_ENABLED
case Mode::Number::POSHOLD:
ret = &mode_poshold;
break;
#endif
#if MODE_BRAKE_ENABLED == ENABLED
#if MODE_BRAKE_ENABLED
case Mode::Number::BRAKE:
ret = &mode_brake;
break;
#endif
#if MODE_THROW_ENABLED == ENABLED
#if MODE_THROW_ENABLED
case Mode::Number::THROW:
ret = &mode_throw;
break;
@ -131,49 +131,49 @@ Mode *Copter::mode_from_mode_num(const Mode::Number mode)
break;
#endif
#if MODE_GUIDED_NOGPS_ENABLED == ENABLED
#if MODE_GUIDED_NOGPS_ENABLED
case Mode::Number::GUIDED_NOGPS:
ret = &mode_guided_nogps;
break;
#endif
#if MODE_SMARTRTL_ENABLED == ENABLED
#if MODE_SMARTRTL_ENABLED
case Mode::Number::SMART_RTL:
ret = &mode_smartrtl;
break;
#endif
#if MODE_FLOWHOLD_ENABLED == ENABLED
#if MODE_FLOWHOLD_ENABLED
case Mode::Number::FLOWHOLD:
ret = (Mode *)g2.mode_flowhold_ptr;
break;
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
case Mode::Number::FOLLOW:
ret = &mode_follow;
break;
#endif
#if MODE_ZIGZAG_ENABLED == ENABLED
#if MODE_ZIGZAG_ENABLED
case Mode::Number::ZIGZAG:
ret = &mode_zigzag;
break;
#endif
#if MODE_SYSTEMID_ENABLED == ENABLED
#if MODE_SYSTEMID_ENABLED
case Mode::Number::SYSTEMID:
ret = (Mode *)g2.mode_systemid_ptr;
break;
#endif
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
case Mode::Number::AUTOROTATE:
ret = &mode_autorotate;
break;
#endif
#if MODE_TURTLE_ENABLED == ENABLED
#if MODE_TURTLE_ENABLED
case Mode::Number::TURTLE:
ret = &mode_turtle;
break;
@ -273,7 +273,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
return false;
}
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
if (mode == Mode::Number::AUTO_RTL) {
// Special case for AUTO RTL, not a true mode, just AUTO in disguise
// Attempt to join return path, fallback to do-land-start
@ -294,7 +294,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
// rotor runup is not complete
if (!ignore_checks && !new_flightmode->has_manual_throttle() &&
(motors->get_spool_state() == AP_Motors::SpoolState::SPOOLING_UP || motors->get_spool_state() == AP_Motors::SpoolState::SPOOLING_DOWN)) {
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
//if the mode being exited is the autorotation mode allow mode change despite rotor not being at
//full speed. This will reduce altitude loss on bail-outs back to non-manual throttle modes
bool in_autorotation_check = (flightmode != &mode_autorotate || new_flightmode != &mode_autorotate);
@ -315,7 +315,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
// (e.g. user arms in guided, raises throttle to 1300 (not enough to
// trigger auto takeoff), then switches into manual):
bool user_throttle = new_flightmode->has_manual_throttle();
#if MODE_DRIFT_ENABLED == ENABLED
#if MODE_DRIFT_ENABLED
if (new_flightmode == &mode_drift) {
user_throttle = true;
}
@ -398,11 +398,11 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
#endif
// set rate shaping time constants
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
attitude_control->set_roll_pitch_rate_tc(g2.command_model_acro_rp.get_rate_tc());
#endif
attitude_control->set_yaw_rate_tc(g2.command_model_pilot.get_rate_tc());
#if MODE_ACRO_ENABLED == ENABLED || MODE_DRIFT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_DRIFT_ENABLED
if (mode== Mode::Number::ACRO || mode== Mode::Number::DRIFT) {
attitude_control->set_yaw_rate_tc(g2.command_model_acro_y.get_rate_tc());
}

24
ArduCopter/mode.h
View File

@ -190,7 +190,7 @@ public:
void make_safe_ground_handling(bool force_throttle_unlimited = false);
// true if weathervaning is allowed in the current mode
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
virtual bool allows_weathervaning() const { return false; }
#endif
@ -331,7 +331,7 @@ public:
bool reached_fixed_yaw_target();
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
void update_weathervane(const int16_t pilot_yaw_cds);
#endif
@ -390,7 +390,7 @@ public:
};
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
class ModeAcro : public Mode {
public:
@ -582,7 +582,7 @@ public:
AP_Mission_ChangeDetector mis_change_detector;
// true if weathervaning is allowed in auto
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
bool allows_weathervaning(void) const override;
#endif
@ -641,7 +641,7 @@ private:
void do_loiter_to_alt(const AP_Mission::Mission_Command& cmd);
void do_spline_wp(const AP_Mission::Mission_Command& cmd);
void get_spline_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc, Location& dest_loc, Location& next_dest_loc, bool& next_dest_loc_is_spline);
#if AC_NAV_GUIDED == ENABLED
#if AC_NAV_GUIDED
void do_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
void do_guided_limits(const AP_Mission::Mission_Command& cmd);
#endif
@ -679,7 +679,7 @@ private:
bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
bool verify_circle(const AP_Mission::Mission_Command& cmd);
bool verify_spline_wp(const AP_Mission::Mission_Command& cmd);
#if AC_NAV_GUIDED == ENABLED
#if AC_NAV_GUIDED
bool verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
#endif
bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
@ -752,7 +752,7 @@ private:
} desired_speed_override;
};
#if AUTOTUNE_ENABLED == ENABLED
#if AUTOTUNE_ENABLED
/*
wrapper class for AC_AutoTune
*/
@ -935,7 +935,7 @@ private:
};
#if MODE_FLOWHOLD_ENABLED == ENABLED
#if MODE_FLOWHOLD_ENABLED
/*
class to support FLOWHOLD mode, which is a position hold mode using
optical flow directly, avoiding the need for a rangefinder
@ -1116,7 +1116,7 @@ public:
bool resume() override;
// true if weathervaning is allowed in guided
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
bool allows_weathervaning(void) const override;
#endif
@ -1753,7 +1753,7 @@ private:
float free_fall_start_velz; // vertical velocity when free fall was detected
};
#if MODE_TURTLE_ENABLED == ENABLED
#if MODE_TURTLE_ENABLED
class ModeTurtle : public Mode {
public:
@ -1814,7 +1814,7 @@ private:
};
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
class ModeFollow : public ModeGuided {
public:
@ -1943,7 +1943,7 @@ private:
bool is_suspended; // true if zigzag auto is suspended
};
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
class ModeAutorotate : public Mode {
public:

2
ArduCopter/mode_acro.cpp
View File

@ -2,7 +2,7 @@
#include "mode.h"
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
/*
* Init and run calls for acro flight mode

4
ArduCopter/mode_acro_heli.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
#if FRAME_CONFIG == HELI_FRAME
/*
@ -153,4 +153,4 @@ void ModeAcro_Heli::virtual_flybar( float &roll_out, float &pitch_out, float &ya
}
#endif //HELI_FRAME
#endif //MODE_ACRO_ENABLED == ENABLED
#endif //MODE_ACRO_ENABLED

24
ArduCopter/mode_auto.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
/*
* Init and run calls for auto flight mode
@ -139,7 +139,7 @@ void ModeAuto::run()
case SubMode::NAVGUIDED:
case SubMode::NAV_SCRIPT_TIME:
#if AC_NAV_GUIDED == ENABLED || AP_SCRIPTING_ENABLED
#if AC_NAV_GUIDED || AP_SCRIPTING_ENABLED
nav_guided_run();
#endif
break;
@ -215,7 +215,7 @@ bool ModeAuto::allows_arming(AP_Arming::Method method) const
return option_is_enabled(Option::AllowArming);
}
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
bool ModeAuto::allows_weathervaning() const
{
return option_is_enabled(Option::AllowWeatherVaning);
@ -569,7 +569,7 @@ void ModeAuto::circle_start()
set_submode(SubMode::CIRCLE);
}
#if AC_NAV_GUIDED == ENABLED
#if AC_NAV_GUIDED
// auto_nav_guided_start - hand over control to external navigation controller in AUTO mode
void ModeAuto::nav_guided_start()
{
@ -721,7 +721,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
do_spline_wp(cmd);
break;
#if AC_NAV_GUIDED == ENABLED
#if AC_NAV_GUIDED
case MAV_CMD_NAV_GUIDED_ENABLE: // 92 accept navigation commands from external nav computer
do_nav_guided_enable(cmd);
break;
@ -783,7 +783,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
do_mount_control(cmd);
break;
#if AC_NAV_GUIDED == ENABLED
#if AC_NAV_GUIDED
case MAV_CMD_DO_GUIDED_LIMITS: // 220 accept guided mode limits
do_guided_limits(cmd);
break;
@ -959,7 +959,7 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
cmd_complete = verify_spline_wp(cmd);
break;
#if AC_NAV_GUIDED == ENABLED
#if AC_NAV_GUIDED
case MAV_CMD_NAV_GUIDED_ENABLE:
cmd_complete = verify_nav_guided_enable(cmd);
break;
@ -1101,7 +1101,7 @@ void ModeAuto::circle_run()
attitude_control->input_thrust_vector_heading(pos_control->get_thrust_vector(), auto_yaw.get_heading());
}
#if AC_NAV_GUIDED == ENABLED || AP_SCRIPTING_ENABLED
#if AC_NAV_GUIDED || AP_SCRIPTING_ENABLED
// auto_nav_guided_run - allows control by external navigation controller
// called by auto_run at 100hz or more
void ModeAuto::nav_guided_run()
@ -1282,7 +1282,7 @@ void PayloadPlace::run()
}
}
#if AP_GRIPPER_ENABLED == ENABLED
#if AP_GRIPPER_ENABLED
// if pilot releases load manually:
if (AP::gripper().valid() && AP::gripper().released()) {
switch (state) {
@ -1377,7 +1377,7 @@ void PayloadPlace::run()
case State::Release:
// Reinitialise vertical position controller to remove discontinuity due to touch down of payload
pos_control->init_z_controller_no_descent();
#if AP_GRIPPER_ENABLED == ENABLED
#if AP_GRIPPER_ENABLED
if (AP::gripper().valid()) {
gcs().send_text(MAV_SEVERITY_INFO, "%s Releasing the gripper", prefix_str);
AP::gripper().release();
@ -1811,7 +1811,7 @@ void ModeAuto::get_spline_from_cmd(const AP_Mission::Mission_Command& cmd, const
}
}
#if AC_NAV_GUIDED == ENABLED
#if AC_NAV_GUIDED
// do_nav_guided_enable - initiate accepting commands from external nav computer
void ModeAuto::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
{
@ -2265,7 +2265,7 @@ bool ModeAuto::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
return false;
}
#if AC_NAV_GUIDED == ENABLED
#if AC_NAV_GUIDED
// verify_nav_guided - check if we have breached any limits
bool ModeAuto::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
{

2
ArduCopter/mode_autorotate.cpp
View File

@ -11,7 +11,7 @@
#include <utility>
#if MODE_AUTOROTATE_ENABLED == ENABLED
#if MODE_AUTOROTATE_ENABLED
#define AUTOROTATE_ENTRY_TIME 2.0f // (s) number of seconds that the entry phase operates for
#define BAILOUT_MOTOR_RAMP_TIME 1.0f // (s) time set on bailout ramp up timer for motors - See AC_MotorsHeli_Single

4
ArduCopter/mode_autotune.cpp
View File

@ -4,7 +4,7 @@
autotune mode is a wrapper around the AC_AutoTune library
*/
#if AUTOTUNE_ENABLED == ENABLED
#if AUTOTUNE_ENABLED
bool AutoTune::init()
{
@ -123,4 +123,4 @@ void ModeAutoTune::exit()
autotune.stop();
}
#endif // AUTOTUNE_ENABLED == ENABLED
#endif // AUTOTUNE_ENABLED

2
ArduCopter/mode_brake.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_BRAKE_ENABLED == ENABLED
#if MODE_BRAKE_ENABLED
/*
* Init and run calls for brake flight mode

2
ArduCopter/mode_circle.cpp
View File

@ -1,7 +1,7 @@
#include "Copter.h"
#include <AP_Mount/AP_Mount.h>
#if MODE_CIRCLE_ENABLED == ENABLED
#if MODE_CIRCLE_ENABLED
/*
* Init and run calls for circle flight mode

2
ArduCopter/mode_drift.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_DRIFT_ENABLED == ENABLED
#if MODE_DRIFT_ENABLED
/*
* Init and run calls for drift flight mode

2
ArduCopter/mode_flip.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_FLIP_ENABLED == ENABLED
#if MODE_FLIP_ENABLED
/*
* Init and run calls for flip flight mode

2
ArduCopter/mode_flowhold.cpp
View File

@ -1,7 +1,7 @@
#include "Copter.h"
#include <utility>
#if MODE_FLOWHOLD_ENABLED == ENABLED
#if MODE_FLOWHOLD_ENABLED
/*
implement FLOWHOLD mode, for position hold using optical flow

4
ArduCopter/mode_follow.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_FOLLOW_ENABLED == ENABLED
#if MODE_FOLLOW_ENABLED
/*
* mode_follow.cpp - follow another mavlink-enabled vehicle by system id
@ -172,4 +172,4 @@ bool ModeFollow::get_wp(Location &loc) const
return true;
}
#endif // MODE_FOLLOW_ENABLED == ENABLED
#endif // MODE_FOLLOW_ENABLED

4
ArduCopter/mode_guided.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_GUIDED_ENABLED == ENABLED
#if MODE_GUIDED_ENABLED
/*
* Init and run calls for guided flight mode
@ -114,7 +114,7 @@ bool ModeGuided::allows_arming(AP_Arming::Method method) const
return option_is_enabled(Option::AllowArmingFromTX);
};
#if WEATHERVANE_ENABLED == ENABLED
#if WEATHERVANE_ENABLED
bool ModeGuided::allows_weathervaning() const
{
return option_is_enabled(Option::AllowWeatherVaning);

2
ArduCopter/mode_guided_nogps.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_GUIDED_NOGPS_ENABLED == ENABLED
#if MODE_GUIDED_NOGPS_ENABLED
/*
* Init and run calls for guided_nogps flight mode

2
ArduCopter/mode_loiter.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_LOITER_ENABLED == ENABLED
#if MODE_LOITER_ENABLED
/*
* Init and run calls for loiter flight mode

2
ArduCopter/mode_poshold.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_POSHOLD_ENABLED == ENABLED
#if MODE_POSHOLD_ENABLED
/*
* Init and run calls for PosHold flight mode

2
ArduCopter/mode_rtl.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_RTL_ENABLED == ENABLED
#if MODE_RTL_ENABLED
/*
* Init and run calls for RTL flight mode

2
ArduCopter/mode_smart_rtl.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_SMARTRTL_ENABLED == ENABLED
#if MODE_SMARTRTL_ENABLED
/*
* Init and run calls for Smart_RTL flight mode

2
ArduCopter/mode_sport.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_SPORT_ENABLED == ENABLED
#if MODE_SPORT_ENABLED
/*
* Init and run calls for sport flight mode

2
ArduCopter/mode_systemid.cpp
View File

@ -1,7 +1,7 @@
#include "Copter.h"
#include <AP_Math/control.h>
#if MODE_SYSTEMID_ENABLED == ENABLED
#if MODE_SYSTEMID_ENABLED
/*
* Init and run calls for systemId, flight mode

2
ArduCopter/mode_throw.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_THROW_ENABLED == ENABLED
#if MODE_THROW_ENABLED
// throw_init - initialise throw controller
bool ModeThrow::init(bool ignore_checks)

2
ArduCopter/mode_turtle.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_TURTLE_ENABLED == ENABLED
#if MODE_TURTLE_ENABLED
#define CRASH_FLIP_EXPO 35.0f
#define CRASH_FLIP_STICK_MINF 0.15f

4
ArduCopter/mode_zigzag.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if MODE_ZIGZAG_ENABLED == ENABLED
#if MODE_ZIGZAG_ENABLED
/*
* Init and run calls for zigzag flight mode
@ -604,4 +604,4 @@ float ModeZigZag::crosstrack_error() const
return is_auto ? wp_nav->crosstrack_error() : 0;
}
#endif // MODE_ZIGZAG_ENABLED == ENABLED
#endif // MODE_ZIGZAG_ENABLED

4
ArduCopter/motors.cpp
View File

@ -20,7 +20,7 @@ void Copter::arm_motors_check()
return;
}
#if TOY_MODE_ENABLED == ENABLED
#if TOY_MODE_ENABLED
if (g2.toy_mode.enabled()) {
// not armed with sticks in toy mode
return;
@ -135,7 +135,7 @@ void Copter::auto_disarm_check()
// motors_output - send output to motors library which will adjust and send to ESCs and servos
void Copter::motors_output()
{
#if ADVANCED_FAILSAFE == ENABLED
#if ADVANCED_FAILSAFE
// this is to allow the failsafe module to deliberately crash
// the vehicle. Only used in extreme circumstances to meet the
// OBC rules

2
ArduCopter/radio.cpp
View File

@ -197,7 +197,7 @@ void Copter::radio_passthrough_to_motors()
*/
int16_t Copter::get_throttle_mid(void)
{
#if TOY_MODE_ENABLED == ENABLED
#if TOY_MODE_ENABLED
if (g2.toy_mode.enabled()) {
return g2.toy_mode.get_throttle_mid();
}

10
ArduCopter/system.cpp
View File

@ -37,7 +37,7 @@ void Copter::init_ardupilot()
// setup telem slots with serial ports
gcs().setup_uarts();
#if OSD_ENABLED == ENABLED
#if OSD_ENABLED
osd.init();
#endif
@ -157,12 +157,12 @@ void Copter::init_ardupilot()
rpm_sensor.init();
#endif
#if MODE_AUTO_ENABLED == ENABLED
#if MODE_AUTO_ENABLED
// initialise mission library
mode_auto.mission.init();
#endif
#if MODE_SMARTRTL_ENABLED == ENABLED
#if MODE_SMARTRTL_ENABLED
// initialize SmartRTL
g2.smart_rtl.init();
#endif
@ -174,7 +174,7 @@ void Copter::init_ardupilot()
startup_INS_ground();
#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
#if AC_CUSTOMCONTROL_MULTI_ENABLED
custom_control.init();
#endif
@ -469,7 +469,7 @@ void Copter::allocate_motors(void)
}
AP_Param::load_object_from_eeprom(loiter_nav, loiter_nav->var_info);
#if MODE_CIRCLE_ENABLED == ENABLED
#if MODE_CIRCLE_ENABLED
circle_nav = NEW_NOTHROW AC_Circle(inertial_nav, *ahrs_view, *pos_control);
if (circle_nav == nullptr) {
AP_BoardConfig::allocation_error("CircleNav");

6
ArduCopter/toy_mode.cpp
View File

@ -1,6 +1,6 @@
#include "Copter.h"
#if TOY_MODE_ENABLED == ENABLED
#if TOY_MODE_ENABLED
// times in 0.1s units
#define TOY_COMMAND_DELAY 15
@ -490,7 +490,7 @@ void ToyMode::update()
break;
case ACTION_MODE_ACRO:
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED
new_mode = Mode::Number::ACRO;
#else
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: ACRO is disabled");
@ -542,7 +542,7 @@ void ToyMode::update()
break;
case ACTION_MODE_THROW:
#if MODE_THROW_ENABLED == ENABLED
#if MODE_THROW_ENABLED
new_mode = Mode::Number::THROW;
#else
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: THROW is disabled");

8
ArduCopter/tuning.cpp
View File

@ -107,14 +107,14 @@ void Copter::tuning()
wp_nav->set_speed_xy(tuning_value);
break;
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
// Acro roll pitch rates
case TUNING_ACRO_RP_RATE:
g2.command_model_acro_rp.set_rate(tuning_value);
break;
#endif
#if MODE_ACRO_ENABLED == ENABLED || MODE_DRIFT_ENABLED == ENABLED
#if MODE_ACRO_ENABLED || MODE_DRIFT_ENABLED
// Acro yaw rate
case TUNING_ACRO_YAW_RATE:
g2.command_model_acro_y.set_rate(tuning_value);
@ -143,7 +143,7 @@ void Copter::tuning()
compass.set_declination(ToRad(tuning_value), false); // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact
break;
#if MODE_CIRCLE_ENABLED == ENABLED
#if MODE_CIRCLE_ENABLED
case TUNING_CIRCLE_RATE:
circle_nav->set_rate(tuning_value);
break;
@ -188,7 +188,7 @@ void Copter::tuning()
break;
case TUNING_SYSTEM_ID_MAGNITUDE:
#if MODE_SYSTEMID_ENABLED == ENABLED
#if MODE_SYSTEMID_ENABLED
copter.mode_systemid.set_magnitude(tuning_value);
#endif
break;

2
libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat
View File

@ -122,7 +122,7 @@ STORAGE_FLASH_PAGE 1
define HAL_STORAGE_SIZE 15360
# setup defines for ArduCopter config
define TOY_MODE_ENABLED ENABLED
define TOY_MODE_ENABLED 1
define ARMING_DELAY_SEC 0
define LAND_START_ALT 700
define LAND_DETECTOR_ACCEL_MAX 2.0f

2
libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat
View File

@ -113,7 +113,7 @@ STORAGE_FLASH_PAGE 1
define HAL_STORAGE_SIZE 15360
# setup defines for ArduCopter config
define TOY_MODE_ENABLED ENABLED
define TOY_MODE_ENABLED 1
define ARMING_DELAY_SEC 0
define LAND_START_ALT 700
define LAND_DETECTOR_ACCEL_MAX 2.0f

2
libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat
View File

@ -44,7 +44,7 @@ PD15 MPU_DRDY INPUT GPIO(100)
define HAL_GPIO_RADIO_IRQ 100
# setup defines for ArduCopter config
define TOY_MODE_ENABLED ENABLED
define TOY_MODE_ENABLED 1
define ARMING_DELAY_SEC 0
define LAND_START_ALT 700
define LAND_DETECTOR_ACCEL_MAX 2.0f