Rover: cope with AP_AVOIDANCE_ENABLED being false

Rover/Parameters.cpp

@@ -487,9 +487,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(proximity, "PRX", 18, ParametersG2, AP_Proximity),
 #endif
 
+#if AP_AVOIDANCE_ENABLED
     // @Group: AVOID_
     // @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
     AP_SUBGROUPINFO(avoid, "AVOID_", 19, ParametersG2, AC_Avoid),
+#endif
 
     // 20 was PIVOT_TURN_RATE and should not be re-used
 
@@ -741,7 +743,9 @@ ParametersG2::ParametersG2(void)
 #if HAL_PROXIMITY_ENABLED
     proximity(),
 #endif
+#if AP_AVOIDANCE_ENABLED
     avoid(),
+#endif
 #if AP_FOLLOW_ENABLED
     follow(),
 #endif

Rover/Parameters.h

@@ -345,8 +345,10 @@ public:
     class ModeDock *mode_dock_ptr;
 #endif
 
+#if AP_AVOIDANCE_ENABLED
     // avoidance library
     AC_Avoid avoid;
+#endif
 
     // pitch angle at 100% throttle
     AP_Float bal_pitch_max;

Rover/mode.cpp

@@ -288,6 +288,7 @@ void Mode::calc_throttle(float target_speed, bool avoidance_enabled)
     // get acceleration limited target speed
     target_speed = attitude_control.get_desired_speed_accel_limited(target_speed, rover.G_Dt);
 
+#if AP_AVOIDANCE_ENABLED
     // apply object avoidance to desired speed using half vehicle's maximum deceleration
     if (avoidance_enabled) {
         g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_decel_max(), ahrs.get_yaw(), target_speed, rover.G_Dt);
@@ -298,6 +299,7 @@ void Mode::calc_throttle(float target_speed, bool avoidance_enabled)
             }
         }
     }
+#endif  // AP_AVOIDANCE_ENABLED
 
     // call throttle controller and convert output to -100 to +100 range
     float throttle_out = 0.0f;
@@ -425,11 +427,13 @@ void Mode::navigate_to_waypoint()
     g2.wp_nav.update(rover.G_Dt);
     _distance_to_destination = g2.wp_nav.get_distance_to_destination();
 
+#if AP_AVOIDANCE_ENABLED
     // sailboats trigger tack if simple avoidance becomes active
     if (g2.sailboat.tack_enabled() && g2.avoid.limits_active()) {
         // we are a sailboat trying to avoid fence, try a tack
         rover.control_mode->handle_tack_request();
     }
+#endif
 
     // pass desired speed to throttle controller
     // do not do simple avoidance because this is already handled in the position controller
@@ -447,9 +451,11 @@ void Mode::navigate_to_waypoint()
         float desired_turn_rate_rads = g2.wp_nav.get_turn_rate_rads();
 
         // if simple avoidance is active at very low speed do not attempt to turn
+#if AP_AVOIDANCE_ENABLED
         if (g2.avoid.limits_active() && (fabsf(attitude_control.get_desired_speed()) <= attitude_control.get_stop_speed())) {
             desired_turn_rate_rads = 0.0f;
         }
+#endif
 
         // call turn rate steering controller
         calc_steering_from_turn_rate(desired_turn_rate_rads);