Copter: use AP_WINCH_ENABLED in place of WINCH_ENABLED

ArduCopter/APM_Config.h

@@ -11,7 +11,6 @@
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define PRECISION_LANDING     DISABLED            // disable precision landing using companion computer or IRLock sensor
 //#define BEACON_ENABLED        DISABLED            // disable beacon support
-//#define WINCH_ENABLED         DISABLED            // disable winch support
 //#define STATS_ENABLED         DISABLED            // disable statistics support
 //#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support

ArduCopter/AP_Arming.cpp

@@ -536,7 +536,7 @@ bool AP_Arming_Copter::gcs_failsafe_check(bool display_failure)
 // check winch
 bool AP_Arming_Copter::winch_checks(bool display_failure) const
 {
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
     // pass if parameter or all arming checks disabled
     if (!check_enabled(ARMING_CHECK_PARAMETERS)) {
         return true;

ArduCopter/Copter.cpp

@@ -230,7 +230,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if AP_GRIPPER_ENABLED
     SCHED_TASK_CLASS(AP_Gripper,           &copter.g2.gripper,          update,          10,  75, 147),
 #endif
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
     SCHED_TASK_CLASS(AP_Winch,             &copter.g2.winch,            update,          50,  50, 150),
 #endif
 #ifdef USERHOOK_FASTLOOP
@@ -555,7 +555,7 @@ void Copter::ten_hz_logging_loop()
 #if FRAME_CONFIG == HELI_FRAME
     Log_Write_Heli();
 #endif
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
     if (should_log(MASK_LOG_ANY)) {
         g2.winch.write_log();
     }

ArduCopter/Copter.h

@@ -147,7 +147,7 @@
 #if TOY_MODE_ENABLED == ENABLED
  # include "toy_mode.h"
 #endif
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
  # include <AP_Winch/AP_Winch.h>
 #endif
 #include <AP_RPM/AP_RPM.h>

ArduCopter/GCS_Mavlink.cpp

@@ -314,7 +314,7 @@ void GCS_MAVLINK_Copter::send_pid_tuning()
 // send winch status message
 void GCS_MAVLINK_Copter::send_winch_status() const
 {
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
     AP_Winch *winch = AP::winch();
     if (winch == nullptr) {
         return;
@@ -914,7 +914,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
                                                packet.param4,
                                                (uint8_t)packet.param5);
 
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
     case MAV_CMD_DO_WINCH:
         // param1 : winch number (ignored)
         // param2 : action (0=relax, 1=relative length control, 2=rate control). See WINCH_ACTIONS enum.

ArduCopter/Parameters.cpp

@@ -852,7 +852,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(smart_rtl, "SRTL_", 21, ParametersG2, AP_SmartRTL),
 #endif
 
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
     // 22 was AP_WheelEncoder
 
     // @Group: WINCH

ArduCopter/Parameters.h

@@ -565,7 +565,7 @@ public:
 #endif
 
     // wheel encoder and winch
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
     AP_Winch winch;
 #endif
 

ArduCopter/RC_Channel.cpp

@@ -433,7 +433,7 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
             break;
 
         case AUX_FUNC::WINCH_ENABLE:
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
             switch (ch_flag) {
                 case AuxSwitchPos::HIGH:
                     // high switch position stops winch using rate control

ArduCopter/config.h

@@ -144,12 +144,6 @@
  # define PRECISION_LANDING ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// winch support
-#ifndef WINCH_ENABLED
-# define WINCH_ENABLED AP_WINCH_ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Parachute release
 #ifndef PARACHUTE

ArduCopter/mode.h

@@ -585,7 +585,7 @@ private:
 #if PARACHUTE == ENABLED
     void do_parachute(const AP_Mission::Mission_Command& cmd);
 #endif
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
     void do_winch(const AP_Mission::Mission_Command& cmd);
 #endif
     void do_payload_place(const AP_Mission::Mission_Command& cmd);

ArduCopter/mode_auto.cpp

@@ -725,7 +725,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         break;
 #endif
 
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
     case MAV_CMD_DO_WINCH:                             // Mission command to control winch
         do_winch(cmd);
         break;
@@ -1901,7 +1901,7 @@ void ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd)
 #endif
 }
 
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
 // control winch based on mission command
 void ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd)
 {

ArduCopter/system.cpp

@@ -32,7 +32,7 @@ void Copter::init_ardupilot()
 #endif
 
     // init winch
-#if WINCH_ENABLED == ENABLED
+#if AP_WINCH_ENABLED
     g2.winch.init();
 #endif