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Plane: make mount/gimbal inclusion configurable per-board

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This commit is contained in:
Andy Piper 2020-07-24 18:23:23 +01:00 committed by Andrew Tridgell
parent e91ae19544
commit b649afe9e5
6 changed files with 6 additions and 13 deletions
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4
ArduPlane/ArduPlane.cpp
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@ -69,9 +69,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(check_long_failsafe, 3, 400), SCHED_TASK(check_long_failsafe, 3, 400),
SCHED_TASK(rpm_update, 10, 100), SCHED_TASK(rpm_update, 10, 100),
SCHED_TASK(airspeed_ratio_update, 1, 100), SCHED_TASK(airspeed_ratio_update, 1, 100),
#if MOUNT == ENABLED #if HAL_MOUNT_ENABLED
SCHED_TASK_CLASS(AP_Mount, &plane.camera_mount, update, 50, 100), SCHED_TASK_CLASS(AP_Mount, &plane.camera_mount, update, 50, 100),
#endif // MOUNT == ENABLED #endif // HAL_MOUNT_ENABLED
#if CAMERA == ENABLED #if CAMERA == ENABLED
SCHED_TASK_CLASS(AP_Camera, &plane.camera, update, 50, 100), SCHED_TASK_CLASS(AP_Camera, &plane.camera, update, 50, 100),
#endif // CAMERA == ENABLED #endif // CAMERA == ENABLED

2
ArduPlane/Parameters.cpp
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@ -999,7 +999,7 @@ const AP_Param::Info Plane::var_info[] = {
// @Path: ../libraries/AP_TECS/AP_TECS.cpp // @Path: ../libraries/AP_TECS/AP_TECS.cpp
GOBJECT(TECS_controller, "TECS_", AP_TECS), GOBJECT(TECS_controller, "TECS_", AP_TECS),
#if MOUNT == ENABLED #if HAL_MOUNT_ENABLED
// @Group: MNT // @Group: MNT
// @Path: ../libraries/AP_Mount/AP_Mount.cpp // @Path: ../libraries/AP_Mount/AP_Mount.cpp
GOBJECT(camera_mount, "MNT", AP_Mount), GOBJECT(camera_mount, "MNT", AP_Mount),

2
ArduPlane/Plane.h
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@ -756,7 +756,7 @@ private:
uint32_t last_home_update_ms; uint32_t last_home_update_ms;
// Camera/Antenna mount tracking and stabilisation stuff // Camera/Antenna mount tracking and stabilisation stuff
#if MOUNT == ENABLED #if HAL_MOUNT_ENABLED
AP_Mount camera_mount; AP_Mount camera_mount;
#endif #endif

2
ArduPlane/commands_logic.cpp
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@ -152,7 +152,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
autotune_enable(cmd.p1); autotune_enable(cmd.p1);
break; break;
#if MOUNT == ENABLED #if HAL_MOUNT_ENABLED
// Sets the region of interest (ROI) for a sensor set or the // Sets the region of interest (ROI) for a sensor set or the
// vehicle itself. This can then be used by the vehicles control // vehicle itself. This can then be used by the vehicles control
// system to control the vehicle attitude and the attitude of various // system to control the vehicle attitude and the attitude of various

7
ArduPlane/config.h
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@ -131,13 +131,6 @@
# define CAMERA ENABLED # define CAMERA ENABLED
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
#ifndef MOUNT
#define MOUNT ENABLED
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// FLIGHT AND NAVIGATION CONTROL // FLIGHT AND NAVIGATION CONTROL

2
ArduPlane/system.cpp
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@ -108,7 +108,7 @@ void Plane::init_ardupilot()
init_rc_in(); // sets up rc channels from radio init_rc_in(); // sets up rc channels from radio
#if MOUNT == ENABLED #if HAL_MOUNT_ENABLED
// initialise camera mount // initialise camera mount
camera_mount.init(); camera_mount.init();
#endif #endif