ArduSub: add and use AP_CAMERA_ENABLED

ArduSub/ArduSub.cpp

@@ -87,7 +87,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
 #if HAL_MOUNT_ENABLED
     SCHED_TASK_CLASS(AP_Mount,            &sub.camera_mount, update,              50,  75,  45),
 #endif
-#if CAMERA == ENABLED
+#if AP_CAMERA_ENABLED
     SCHED_TASK_CLASS(AP_Camera,           &sub.camera,       update,              50,  75,  48),
 #endif
     SCHED_TASK(ten_hz_logging_loop,   10,    350,  51),

ArduSub/Parameters.cpp

@@ -409,7 +409,7 @@ const AP_Param::Info Sub::var_info[] = {
 
     // variables not in the g class which contain EEPROM saved variables
 
-#if CAMERA == ENABLED
+#if AP_CAMERA_ENABLED
     // @Group: CAM_
     // @Path: ../libraries/AP_Camera/AP_Camera.cpp
     GOBJECT(camera,           "CAM_", AP_Camera),

ArduSub/Sub.h

@@ -99,9 +99,7 @@
 #include <AP_Rally/AP_Rally.h>           // Rally point library
 #endif
 
-#if CAMERA == ENABLED
 #include <AP_Camera/AP_Camera.h>          // Photo or video camera
-#endif
 
 #if AP_SCRIPTING_ENABLED
 #include <AP_Scripting/AP_Scripting.h>
@@ -336,7 +334,7 @@ private:
     AC_Circle circle_nav;
 
     // Camera
-#if CAMERA == ENABLED
+#if AP_CAMERA_ENABLED
     AP_Camera camera{MASK_LOG_CAMERA};
 #endif
 

ArduSub/config.h

@@ -103,13 +103,6 @@
 # define NAV_GUIDED    ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// CAMERA TRIGGER AND CONTROL
-//
-#ifndef CAMERA
-# define CAMERA        DISABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Flight mode definitions
 //

ArduSub/flight_mode.cpp

@@ -78,7 +78,7 @@ bool Sub::set_mode(control_mode_t mode, ModeReason reason)
         // update notify object
         notify_flight_mode(control_mode);
 
-#if CAMERA == ENABLED
+#if AP_CAMERA_ENABLED
         camera.set_is_auto_mode(control_mode == AUTO);
 #endif