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Rover: rely on AP_RALLY_ENABLED for rally support

This commit is contained in:
Peter Barker 2023-08-18 15:38:03 +10:00 committed by Andrew Tridgell
parent 1dd5778956
commit 95c13faac2
6 changed files with 14 additions and 12 deletions
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8
Rover/AP_Rally.cpp
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@ -13,11 +13,13 @@
along with this program. If not, see <http://www.gnu.org/licenses/>. along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <AP_Common/Location.h> #include "AP_Rally.h"
#if HAL_RALLY_ENABLED
#include "Rover.h" #include "Rover.h"
#include "AP_Rally.h" #include <AP_Common/Location.h>
bool AP_Rally_Rover::is_valid(const Location &rally_point) const bool AP_Rally_Rover::is_valid(const Location &rally_point) const
{ {
@ -28,3 +30,5 @@ bool AP_Rally_Rover::is_valid(const Location &rally_point) const
#endif #endif
return true; return true;
} }
#endif // HAL_RALLY_ENABLED

5
Rover/AP_Rally.h
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@ -15,7 +15,8 @@
#pragma once #pragma once
#include <AP_Rally/AP_Rally.h> #include <AP_Rally/AP_Rally.h>
#include <AP_AHRS/AP_AHRS.h>
#if HAL_RALLY_ENABLED
class AP_Rally_Rover : public AP_Rally class AP_Rally_Rover : public AP_Rally
{ {
@ -28,3 +29,5 @@ public:
private: private:
bool is_valid(const Location &rally_point) const override; bool is_valid(const Location &rally_point) const override;
}; };
#endif // HAL_RALLY_ENABLED

2
Rover/Parameters.cpp
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@ -548,7 +548,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Path: ../libraries/AP_WheelEncoder/AP_WheelRateControl.cpp // @Path: ../libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
AP_SUBGROUPINFO(wheel_rate_control, "WRC", 27, ParametersG2, AP_WheelRateControl), AP_SUBGROUPINFO(wheel_rate_control, "WRC", 27, ParametersG2, AP_WheelRateControl),
#if AP_RALLY == ENABLED #if HAL_RALLY_ENABLED
// @Group: RALLY_ // @Group: RALLY_
// @Path: AP_Rally.cpp,../libraries/AP_Rally/AP_Rally.cpp // @Path: AP_Rally.cpp,../libraries/AP_Rally/AP_Rally.cpp
AP_SUBGROUPINFO(rally, "RALLY_", 28, ParametersG2, AP_Rally_Rover), AP_SUBGROUPINFO(rally, "RALLY_", 28, ParametersG2, AP_Rally_Rover),

2
Rover/Parameters.h
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@ -381,8 +381,10 @@ public:
AP_Gripper gripper; AP_Gripper gripper;
#endif #endif
#if HAL_RALLY_ENABLED
// Rally point library // Rally point library
AP_Rally_Rover rally; AP_Rally_Rover rally;
#endif
// Simple mode types // Simple mode types
AP_Int8 simple_type; AP_Int8 simple_type;

7
Rover/config.h
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@ -31,13 +31,6 @@
#error XXX #error XXX
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// RALLY POINTS
//
#ifndef AP_RALLY
#define AP_RALLY ENABLED
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// NAVL1 // NAVL1
// //

2
Rover/mode_rtl.cpp
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@ -11,7 +11,7 @@ bool ModeRTL::_enter()
g2.wp_nav.init(MAX(0, g2.rtl_speed)); g2.wp_nav.init(MAX(0, g2.rtl_speed));
// set target to the closest rally point or home // set target to the closest rally point or home
#if AP_RALLY == ENABLED #if HAL_RALLY_ENABLED
if (!g2.wp_nav.set_desired_location(g2.rally.calc_best_rally_or_home_location(rover.current_loc, ahrs.get_home().alt))) { if (!g2.wp_nav.set_desired_location(g2.rally.calc_best_rally_or_home_location(rover.current_loc, ahrs.get_home().alt))) {
return false; return false;
} }