Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config

ArduCopter/AP_Arming.cpp

@@ -269,7 +269,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
         }
 
         // check adsb avoidance failsafe
-#if ADSB_ENABLED == ENABLE
+#if HAL_ADSB_ENABLED
         if (copter.failsafe.adsb) {
             check_failed(ARMING_CHECK_PARAMETERS, display_failure, "ADSB threat detected");
             return false;
@@ -687,7 +687,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
     }
 
     // check adsb
-#if ADSB_ENABLED == ENABLE
+#if HAL_ADSB_ENABLED
     if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
         if (copter.failsafe.adsb) {
             check_failed(ARMING_CHECK_PARAMETERS, true, "ADSB threat detected");

ArduCopter/Copter.cpp

@@ -166,7 +166,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(compass_cal_update,   100,    100),
     SCHED_TASK(accel_cal_update,      10,    100),
     SCHED_TASK_CLASS(AP_TempCalibration,   &copter.g2.temp_calibration, update,          10, 100),
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
     SCHED_TASK(avoidance_adsb_update, 10,    100),
 #endif
 #if ADVANCED_FAILSAFE == ENABLED
@@ -513,7 +513,7 @@ void Copter::one_hz_loop()
     // log terrain data
     terrain_logging();
 
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
     adsb.set_is_flying(!ap.land_complete);
 #endif
 

ArduCopter/Copter.h

@@ -65,6 +65,7 @@
 #include <AC_AutoTune/AC_AutoTune.h>
 #include <AP_Parachute/AP_Parachute.h>
 #include <AC_Sprayer/AC_Sprayer.h>
+#include <AP_ADSB/AP_ADSB.h>
 
 // Configuration
 #include "defines.h"
@@ -112,7 +113,7 @@
  # include <AC_PrecLand/AC_PrecLand.h>
  # include <AP_IRLock/AP_IRLock.h>
 #endif
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
  # include <AP_ADSB/AP_ADSB.h>
 #endif
 #if MODE_FOLLOW_ENABLED == ENABLED
@@ -169,7 +170,7 @@
 #include "UserParameters.h"
 #endif
 #include "Parameters.h"
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
 #include "avoidance_adsb.h"
 #endif
 
@@ -535,7 +536,7 @@ private:
     AC_InputManager_Heli input_manager;
 #endif
 
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
     AP_ADSB adsb;
 
     // avoidance of adsb enabled vehicles (normally manned vehicles)
@@ -667,7 +668,7 @@ private:
     void rotate_body_frame_to_NE(float &x, float &y);
     uint16_t get_pilot_speed_dn();
 
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
     // avoidance_adsb.cpp
     void avoidance_adsb_update(void);
 #endif
@@ -948,7 +949,7 @@ private:
 #if MODE_SYSTEMID_ENABLED == ENABLED
     ModeSystemId mode_systemid;
 #endif
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
     ModeAvoidADSB mode_avoid_adsb;
 #endif
 #if MODE_THROW_ENABLED == ENABLED

ArduCopter/GCS_Mavlink.cpp

@@ -279,7 +279,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
         break;
 
     case MSG_ADSB_VEHICLE: {
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
         CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
         copter.adsb.send_adsb_vehicle(chan);
 #endif
@@ -501,7 +501,7 @@ void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &
 void GCS_MAVLINK_Copter::packetReceived(const mavlink_status_t &status,
                                         const mavlink_message_t &msg)
 {
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
     if (copter.g2.dev_options.get() & DevOptionADSBMAVLink) {
         // optional handling of GLOBAL_POSITION_INT as a MAVLink based avoidance source
         copter.avoidance_adsb.handle_msg(msg);
@@ -1301,7 +1301,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
     case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG:
     case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
     case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
         copter.adsb.handle_message(chan, msg);
 #endif
         break;

ArduCopter/Parameters.cpp

@@ -679,7 +679,7 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(rpm_sensor, "RPM", AP_RPM),
 #endif
 
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
     // @Group: ADSB_
     // @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
     GOBJECT(adsb,                "ADSB_", AP_ADSB),

ArduCopter/avoidance_adsb.cpp

@@ -1,7 +1,7 @@
 #include "Copter.h"
 #include <AP_Notify/AP_Notify.h>
 
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
 void Copter::avoidance_adsb_update(void)
 {
     adsb.update();

ArduCopter/config.h

@@ -252,12 +252,6 @@
  # define PARACHUTE HAL_PARACHUTE_ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// ADSB support
-#ifndef ADSB_ENABLED
-# define ADSB_ENABLED !HAL_MINIMIZE_FEATURES
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Nav-Guided - allows external nav computer to control vehicle
 #ifndef NAV_GUIDED
@@ -731,7 +725,7 @@
   #error SmartRTL requires ModeRTL which is disabled
 #endif
 
-#if ADSB_ENABLED && !MODE_GUIDED_ENABLED
+#if HAL_ADSB_ENABLED && !MODE_GUIDED_ENABLED
   #error ADSB requires ModeGuided which is disabled
 #endif
 

ArduCopter/mode.cpp

@@ -121,7 +121,7 @@ Mode *Copter::mode_from_mode_num(const Mode::Number mode)
             break;
 #endif
 
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
         case Mode::Number::AVOID_ADSB:
             ret = &mode_avoid_adsb;
             break;
@@ -280,7 +280,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
     logger.Write_Mode((uint8_t)control_mode, reason);
     gcs().send_message(MSG_HEARTBEAT);
 
-#if ADSB_ENABLED == ENABLED
+#if HAL_ADSB_ENABLED
     adsb.set_is_auto_mode((mode == Mode::Number::AUTO) || (mode == Mode::Number::RTL) || (mode == Mode::Number::GUIDED));
 #endif