Copter: fix compilation when fence andd proximity are disabled

This adds AC_AVOID_ENABLED; avoidance must be disabled if either
of fence or proximity are disabled.

Parameter definitions have been reordered to avoid compiler warnings;
this make sthe numbering non-linear

ArduCopter/Copter.cpp

@@ -91,7 +91,9 @@ Copter::Copter(void) :
 #if AC_FENCE == ENABLED
     fence(ahrs, inertial_nav),
 #endif
+#if AC_AVOID_ENABLED == ENABLED
     avoid(ahrs, inertial_nav, fence, g2.proximity),
+#endif
 #if AC_RALLY == ENABLED
     rally(ahrs),
 #endif

ArduCopter/Copter.h

@@ -538,8 +538,9 @@ private:
 #if AC_FENCE == ENABLED
     AC_Fence    fence;
 #endif
+#if AC_AVOID_ENABLED == ENABLED
     AC_Avoid avoid;
-
+#endif
     // Rally library
 #if AC_RALLY == ENABLED
     AP_Rally_Copter rally;

ArduCopter/Parameters.cpp

@@ -820,7 +820,9 @@ const AP_Param::Info Copter::var_info[] = {
 
     // @Group: AVOID_
     // @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
+#if AC_AVOID_ENABLED == ENABLED
     GOBJECT(avoid,      "AVOID_",   AC_Avoid),
+#endif
 
 #if AC_RALLY == ENABLED
     // @Group: RALLY_
@@ -1001,6 +1003,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),
 
+    // @Group: BCN
+    // @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
+    AP_SUBGROUPINFO(beacon, "BCN", 14, ParametersG2, AP_Beacon),
+
 #if PROXIMITY_ENABLED == ENABLED
     // @Group: PRX
     // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
@@ -1039,10 +1045,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(gripper, "GRIP_", 13, ParametersG2, AP_Gripper),
 #endif
 
-    // @Group: BCN
-    // @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
-    AP_SUBGROUPINFO(beacon, "BCN", 14, ParametersG2, AP_Beacon),
-
     // @Param: FRAME_CLASS
     // @DisplayName: Frame Class
     // @Description: Controls major frame class for multicopter component
@@ -1058,8 +1060,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
   constructor for g2 object
  */
 ParametersG2::ParametersG2(void)
-    : proximity(copter.serial_manager),
-      beacon(copter.serial_manager)
+    : beacon(copter.serial_manager)
+#if PROXIMITY_ENABLED == ENABLED
+    , proximity(copter.serial_manager)
+#endif
 #if ADVANCED_FAILSAFE == ENABLED
      ,afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
 #endif

ArduCopter/arming_checks.cpp

@@ -635,6 +635,7 @@ bool Copter::pre_arm_proximity_check(bool display_failure)
     }
 
     // get closest object if we might use it for avoidance
+#if AC_AVOID_ENABLED == ENABLED
     float angle_deg, distance;
     if (avoid.proximity_avoidance_enabled() && g2.proximity.get_closest_object(angle_deg, distance)) {
         // display error if something is within 60cm
@@ -645,6 +646,7 @@ bool Copter::pre_arm_proximity_check(bool display_failure)
             return false;
         }
     }
+#endif
 
     return true;
 #else

ArduCopter/config.h

@@ -642,7 +642,7 @@
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
-// Fence, Rally and Terrain defaults
+// Fence, Rally and Terrain and AC_Avoidance defaults
 //
 
 // Enable/disable Fence
@@ -662,6 +662,17 @@
  #error Terrain relies on Rally which is disabled
 #endif
 
+#ifndef AC_AVOID_ENABLED
+ #define AC_AVOID_ENABLED   ENABLED
+#endif
+
+#if AC_AVOID_ENABLED && !PROXIMITY_ENABLED
+  #error AC_Avoidance relies on PROXIMITY_ENABLED which is disabled
+#endif
+#if AC_AVOID_ENABLED && !AC_FENCE
+  #error AC_Avoidance relies on AC_FENCE which is disabled
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Developer Items
 //

ArduCopter/control_althold.cpp

@@ -135,8 +135,10 @@ void Copter::althold_run()
     case AltHold_Flying:
         motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
+#if AC_AVOID_ENABLED == ENABLED
         // apply avoidance
         avoid.adjust_roll_pitch(target_roll, target_pitch, aparm.angle_max);
+#endif
 
         // call attitude controller
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());

ArduCopter/control_guided.cpp

@@ -632,8 +632,10 @@ void Copter::guided_set_desired_velocity_with_accel_and_fence_limits(const Vecto
     float vel_delta_z_max = G_Dt * pos_control.get_accel_z();
     curr_vel_des.z += constrain_float(vel_delta.z, -vel_delta_z_max, vel_delta_z_max);
 
+#if AC_AVOID_ENABLED
     // limit the velocity to prevent fence violations
     avoid.adjust_velocity(pos_control.get_pos_xy_kP(), pos_control.get_accel_xy(), curr_vel_des);
+#endif
 
     // update position controller with new target
     pos_control.set_desired_velocity(curr_vel_des);

ArduCopter/switches.cpp

@@ -572,7 +572,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             break;
 
         case AUXSW_AVOID_PROXIMITY:
-#if PROXIMITY_ENABLED == ENABLED
+#if PROXIMITY_ENABLED == ENABLED && AC_AVOID_ENABLED == ENABLED
             switch (ch_flag) {
                 case AUX_SWITCH_HIGH:
                     avoid.proximity_avoidance_enable(true);

ArduCopter/system.cpp

@@ -210,7 +210,9 @@ void Copter::init_ardupilot()
     Location_Class::set_terrain(&terrain);
     wp_nav.set_terrain(&terrain);
 #endif
+#if AC_AVOID_ENABLED == ENABLED
     wp_nav.set_avoidance(&avoid);
+#endif
 
     attitude_control.parameter_sanity_check();
     pos_control.set_dt(MAIN_LOOP_SECONDS);