ArduPlane: add and use AP_ICENGINE_ENABLE

ArduPlane/ArduPlane.cpp

@@ -82,7 +82,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AC_Fence,       &plane.fence,   update, 10, 100, 75),
 #endif
     SCHED_TASK(read_rangefinder,       50,    100, 78),
+#if AP_ICENGINE_ENABLED
     SCHED_TASK_CLASS(AP_ICEngine,      &plane.g2.ice_control, update,     10, 100,  81),
+#endif
     SCHED_TASK_CLASS(Compass,          &plane.compass,        cal_update, 50,  50,  84),
 #if AP_OPTICALFLOW_ENABLED
     SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update,    50,    50,  87),

ArduPlane/GCS_Mavlink.cpp

@@ -1097,11 +1097,13 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
         return MAV_RESULT_ACCEPTED;
 #endif
 
+#if AP_ICENGINE_ENABLED
     case MAV_CMD_DO_ENGINE_CONTROL:
         if (!plane.g2.ice_control.engine_control(packet.param1, packet.param2, packet.param3)) {
             return MAV_RESULT_FAILED;
         }
         return MAV_RESULT_ACCEPTED;
+#endif
 
 #if AP_SCRIPTING_ENABLED
     case MAV_CMD_DO_FOLLOW:

ArduPlane/Parameters.cpp

@@ -1016,9 +1016,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPPTR(button_ptr, "BTN_", 1, ParametersG2, AP_Button),
 #endif
 
+#if AP_ICENGINE_ENABLED
     // @Group: ICE_
     // @Path: ../libraries/AP_ICEngine/AP_ICEngine.cpp
     AP_SUBGROUPINFO(ice_control, "ICE_", 2, ParametersG2, AP_ICEngine),
+#endif
 
     // 3 was used by prototype for servo_channels
     
@@ -1240,7 +1242,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 };
 
 ParametersG2::ParametersG2(void) :
-    ice_control(plane.rpm_sensor)
+    unused_integer{1}
+#if AP_ICENGINE_ENABLED
+    ,ice_control(plane.rpm_sensor)
+#endif
 #if HAL_SOARING_ENABLED
     ,soaring_controller(plane.TECS_controller, plane.aparm)
 #endif

ArduPlane/Parameters.h

@@ -485,8 +485,10 @@ public:
     AP_Stats stats;
 #endif
 
+#if AP_ICENGINE_ENABLED
     // internal combustion engine control
     AP_ICEngine ice_control;
+#endif
 
     // RC input channels
     RC_Channels_Plane rc_channels;
@@ -559,6 +561,9 @@ public:
     AP_Int8         man_expo_rudder;
 
     AP_Int32        oneshot_mask;
+
+    // just to make compilation easier when all things are compiled out...
+    uint8_t unused_integer;
 };
 
 extern const AP_Param::Info var_info[];

ArduPlane/commands_logic.cpp

@@ -190,11 +190,13 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
         break;
 #endif
 
+#if AP_ICENGINE_ENABLED
     case MAV_CMD_DO_ENGINE_CONTROL:
         plane.g2.ice_control.engine_control(cmd.content.do_engine_control.start_control,
                                             cmd.content.do_engine_control.cold_start,
                                             cmd.content.do_engine_control.height_delay_cm*0.01f);
         break;
+#endif
 
 #if AP_SCRIPTING_ENABLED
     case MAV_CMD_NAV_SCRIPT_TIME:

ArduPlane/mode_qloiter.cpp

@@ -89,10 +89,12 @@ void ModeQLoiter::run()
         if (poscontrol.get_state() < QuadPlane::QPOS_LAND_FINAL && quadplane.check_land_final()) {
             poscontrol.set_state(QuadPlane::QPOS_LAND_FINAL);
             quadplane.setup_target_position();
+#if AP_ICENGINE_ENABLED
             // cut IC engine if enabled
             if (quadplane.land_icengine_cut != 0) {
                 plane.g2.ice_control.engine_control(0, 0, 0);
             }
+#endif  // AP_ICENGINE_ENABLED
         }
         float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
         float descent_rate_cms = quadplane.landing_descent_rate_cms(height_above_ground);

ArduPlane/quadplane.cpp

@@ -3295,10 +3295,12 @@ bool QuadPlane::verify_vtol_land(void)
     if (poscontrol.get_state() == QPOS_LAND_DESCEND && check_land_final()) {
         poscontrol.set_state(QPOS_LAND_FINAL);
 
+#if AP_ICENGINE_ENABLED
         // cut IC engine if enabled
         if (land_icengine_cut != 0) {
             plane.g2.ice_control.engine_control(0, 0, 0);
         }
+#endif  // AP_ICENGINE_ENABLED
         gcs().send_text(MAV_SEVERITY_INFO,"Land final started");
     }
 

ArduPlane/servos.cpp

@@ -394,7 +394,9 @@ void Plane::set_servos_manual_passthrough(void)
         int8_t min_throttle = aparm.throttle_min.get();
 
         // apply idle governor
+#if AP_ICENGINE_ENABLED
         g2.ice_control.update_idle_governor(min_throttle);
+#endif
         throttle = MAX(throttle, min_throttle);
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
     }
@@ -499,9 +501,11 @@ void Plane::set_servos_controlled(void)
     int8_t min_throttle = aparm.throttle_min.get();
     int8_t max_throttle = aparm.throttle_max.get();
 
+#if AP_ICENGINE_ENABLED
     // apply idle governor
     g2.ice_control.update_idle_governor(min_throttle);
-    
+#endif
+
     if (min_throttle < 0 && !allow_reverse_thrust()) {
         // reverse thrust is available but inhibited.
         min_throttle = 0;
@@ -886,7 +890,9 @@ void Plane::set_servos(void)
     // slew rate limit throttle
     throttle_slew_limit(SRV_Channel::k_throttle);
 
+#if AP_ICENGINE_ENABLED
     const float base_throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
+#endif
 
     if (!arming.is_armed()) {
         //Some ESCs get noisy (beep error msgs) if PWM == 0.
@@ -913,6 +919,7 @@ void Plane::set_servos(void)
         }
     }
 
+#if AP_ICENGINE_ENABLED
     float override_pct = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
     if (g2.ice_control.throttle_override(override_pct, base_throttle)) {
         // the ICE controller wants to override the throttle for starting, idle, or redline
@@ -921,6 +928,7 @@ void Plane::set_servos(void)
         quadplane.vel_forward.integrator = 0;
 #endif
     }
+#endif  // AP_ICENGINE_ENABLED
 
     // run output mixer and send values to the hal for output
     servos_output();