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Copter: HAL_PROXIMITY_ENABLED replaces PROXIMITY_ENABLED

This commit is contained in:
Randy Mackay 2021-03-25 17:08:44 +09:00
parent d4f1eacbed
commit 91fa40aea6
9 changed files with 13 additions and 25 deletions
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1
ArduCopter/APM_Config.h
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@ -10,7 +10,6 @@
//#define AC_FENCE DISABLED // disable fence to save 2k of flash //#define AC_FENCE DISABLED // disable fence to save 2k of flash
//#define CAMERA DISABLED // disable camera trigger to save 1k of flash //#define CAMERA DISABLED // disable camera trigger to save 1k of flash
//#define RANGEFINDER_ENABLED DISABLED // disable rangefinder to save 1k of flash //#define RANGEFINDER_ENABLED DISABLED // disable rangefinder to save 1k of flash
//#define PROXIMITY_ENABLED DISABLED // disable proximity sensors
//#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally) //#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally)
//#define AC_AVOID_ENABLED DISABLED // disable stop-at-fence library //#define AC_AVOID_ENABLED DISABLED // disable stop-at-fence library
//#define AC_OAPATHPLANNER_ENABLED DISABLED // disable path planning around obstacles //#define AC_OAPATHPLANNER_ENABLED DISABLED // disable path planning around obstacles

2
ArduCopter/AP_Arming.cpp
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@ -477,7 +477,7 @@ bool AP_Arming_Copter::pre_arm_ekf_attitude_check()
// check nothing is too close to vehicle // check nothing is too close to vehicle
bool AP_Arming_Copter::proximity_checks(bool display_failure) const bool AP_Arming_Copter::proximity_checks(bool display_failure) const
{ {
#if PROXIMITY_ENABLED == ENABLED #if HAL_PROXIMITY_ENABLED
if (!AP_Arming::proximity_checks(display_failure)) { if (!AP_Arming::proximity_checks(display_failure)) {
return false; return false;

4
ArduCopter/Copter.cpp
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@ -107,7 +107,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
#if RANGEFINDER_ENABLED == ENABLED #if RANGEFINDER_ENABLED == ENABLED
SCHED_TASK(read_rangefinder, 20, 100), SCHED_TASK(read_rangefinder, 20, 100),
#endif #endif
#if PROXIMITY_ENABLED == ENABLED #if HAL_PROXIMITY_ENABLED
SCHED_TASK_CLASS(AP_Proximity, &copter.g2.proximity, update, 200, 50), SCHED_TASK_CLASS(AP_Proximity, &copter.g2.proximity, update, 200, 50),
#endif #endif
#if BEACON_ENABLED == ENABLED #if BEACON_ENABLED == ENABLED
@ -427,7 +427,7 @@ void Copter::ten_hz_logging_loop()
} }
if (should_log(MASK_LOG_CTUN)) { if (should_log(MASK_LOG_CTUN)) {
attitude_control->control_monitor_log(); attitude_control->control_monitor_log();
#if PROXIMITY_ENABLED == ENABLED #if HAL_PROXIMITY_ENABLED
logger.Write_Proximity(g2.proximity); // Write proximity sensor distances logger.Write_Proximity(g2.proximity); // Write proximity sensor distances
#endif #endif
#if BEACON_ENABLED == ENABLED #if BEACON_ENABLED == ENABLED

4
ArduCopter/Copter.h
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@ -67,6 +67,7 @@
#include <AP_Parachute/AP_Parachute.h> #include <AP_Parachute/AP_Parachute.h>
#include <AC_Sprayer/AC_Sprayer.h> #include <AC_Sprayer/AC_Sprayer.h>
#include <AP_ADSB/AP_ADSB.h> #include <AP_ADSB/AP_ADSB.h>
#include <AP_Proximity/AP_Proximity.h>
// Configuration // Configuration
#include "defines.h" #include "defines.h"
@ -129,9 +130,6 @@
#if RANGEFINDER_ENABLED == ENABLED #if RANGEFINDER_ENABLED == ENABLED
# include <AP_RangeFinder/AP_RangeFinder.h> # include <AP_RangeFinder/AP_RangeFinder.h>
#endif #endif
#if PROXIMITY_ENABLED == ENABLED
# include <AP_Proximity/AP_Proximity.h>
#endif
#include <AP_Mount/AP_Mount.h> #include <AP_Mount/AP_Mount.h>

6
ArduCopter/GCS_Copter.cpp
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@ -61,7 +61,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
} }
#if PROXIMITY_ENABLED == ENABLED #if HAL_PROXIMITY_ENABLED
if (copter.g2.proximity.sensor_present()) { if (copter.g2.proximity.sensor_present()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY; control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
} }
@ -106,7 +106,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
break; break;
} }
#if PROXIMITY_ENABLED == ENABLED #if HAL_PROXIMITY_ENABLED
if (copter.g2.proximity.sensor_enabled()) { if (copter.g2.proximity.sensor_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
} }
@ -126,7 +126,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
} }
#endif #endif
#if PROXIMITY_ENABLED == ENABLED #if HAL_PROXIMITY_ENABLED
if (!copter.g2.proximity.sensor_failed()) { if (!copter.g2.proximity.sensor_failed()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_PROXIMITY; control_sensors_health |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
} }

4
ArduCopter/Parameters.cpp
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@ -821,7 +821,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_SUBGROUPINFO(beacon, "BCN", 14, ParametersG2, AP_Beacon), AP_SUBGROUPINFO(beacon, "BCN", 14, ParametersG2, AP_Beacon),
#endif #endif
#if PROXIMITY_ENABLED == ENABLED #if HAL_PROXIMITY_ENABLED
// @Group: PRX // @Group: PRX
// @Path: ../libraries/AP_Proximity/AP_Proximity.cpp // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
AP_SUBGROUPINFO(proximity, "PRX", 8, ParametersG2, AP_Proximity), AP_SUBGROUPINFO(proximity, "PRX", 8, ParametersG2, AP_Proximity),
@ -1065,7 +1065,7 @@ ParametersG2::ParametersG2(void)
#if BEACON_ENABLED == ENABLED #if BEACON_ENABLED == ENABLED
, beacon(copter.serial_manager) , beacon(copter.serial_manager)
#endif #endif
#if PROXIMITY_ENABLED == ENABLED #if HAL_PROXIMITY_ENABLED
, proximity() , proximity()
#endif #endif
#if ADVANCED_FAILSAFE == ENABLED #if ADVANCED_FAILSAFE == ENABLED

3
ArduCopter/Parameters.h
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@ -2,6 +2,7 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include "RC_Channel.h" #include "RC_Channel.h"
#include <AP_Proximity/AP_Proximity.h>
#if GRIPPER_ENABLED == ENABLED #if GRIPPER_ENABLED == ENABLED
# include <AP_Gripper/AP_Gripper.h> # include <AP_Gripper/AP_Gripper.h>
@ -520,7 +521,7 @@ public:
AP_Beacon beacon; AP_Beacon beacon;
#endif #endif
#if PROXIMITY_ENABLED == ENABLED #if HAL_PROXIMITY_ENABLED
// proximity (aka object avoidance) library // proximity (aka object avoidance) library
AP_Proximity proximity; AP_Proximity proximity;
#endif #endif

10
ArduCopter/config.h
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@ -116,13 +116,6 @@
# define RANGEFINDER_GLITCH_NUM_SAMPLES 3 // number of rangefinder glitches in a row to take new reading # define RANGEFINDER_GLITCH_NUM_SAMPLES 3 // number of rangefinder glitches in a row to take new reading
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// Proximity sensor
//
#ifndef PROXIMITY_ENABLED
# define PROXIMITY_ENABLED ENABLED
#endif
#ifndef MAV_SYSTEM_ID #ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1 # define MAV_SYSTEM_ID 1
#endif #endif
@ -685,9 +678,6 @@
#define AC_OAPATHPLANNER_ENABLED !HAL_MINIMIZE_FEATURES #define AC_OAPATHPLANNER_ENABLED !HAL_MINIMIZE_FEATURES
#endif #endif
#if AC_AVOID_ENABLED && !PROXIMITY_ENABLED
#error AC_Avoidance relies on PROXIMITY_ENABLED which is disabled
#endif
#if AC_AVOID_ENABLED && !AC_FENCE #if AC_AVOID_ENABLED && !AC_FENCE
#error AC_Avoidance relies on AC_FENCE which is disabled #error AC_Avoidance relies on AC_FENCE which is disabled
#endif #endif

4
ArduCopter/sensors.cpp
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@ -97,7 +97,7 @@ void Copter::read_rangefinder(void)
#if MODE_CIRCLE_ENABLED #if MODE_CIRCLE_ENABLED
circle_nav->set_rangefinder_alt(rangefinder_state.enabled && wp_nav->rangefinder_used(), rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get()); circle_nav->set_rangefinder_alt(rangefinder_state.enabled && wp_nav->rangefinder_used(), rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());
#endif #endif
#if PROXIMITY_ENABLED == ENABLED #if HAL_PROXIMITY_ENABLED
g2.proximity.set_rangefinder_alt(rangefinder_state.enabled, rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get()); g2.proximity.set_rangefinder_alt(rangefinder_state.enabled, rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());
#endif #endif
} }
@ -224,7 +224,7 @@ void Copter::accel_cal_update()
// initialise proximity sensor // initialise proximity sensor
void Copter::init_proximity(void) void Copter::init_proximity(void)
{ {
#if PROXIMITY_ENABLED == ENABLED #if HAL_PROXIMITY_ENABLED
g2.proximity.init(); g2.proximity.init();
#endif #endif
} }