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Copter: Improve interoperation of AC_AVOID_ENABLED and BEACON_ENABLED

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Dr.-Ing. Amilcar Do Carmo Lucas 2018-02-28 12:18:10 +01:00 committed by Francisco Ferreira
parent 6820531e2a
commit bbd1aa1cab
3 changed files with 13 additions and 7 deletions
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4
ArduCopter/ArduCopter.cpp
View File

@ -341,7 +341,9 @@ void Copter::ten_hz_logging_loop()
attitude_control->control_monitor_log();
Log_Write_Proximity();
#if BEACON_ENABLED == ENABLED
DataFlash.Log_Write_Beacon(g2.beacon);
if (g2.beacon.enabled()) {
DataFlash.Log_Write_Beacon(g2.beacon);
}
#endif
}
#if FRAME_CONFIG == HELI_FRAME

12
ArduCopter/Copter.h
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@ -59,7 +59,6 @@
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <AP_Motors/AP_Motors.h> // AP Motors library
#include <AP_Stats/AP_Stats.h> // statistics library
#include <AP_Beacon/AP_Beacon.h>
#include <AP_RSSI/AP_RSSI.h> // RSSI Library
#include <Filter/Filter.h> // Filter library
#include <AP_Buffer/AP_Buffer.h> // APM FIFO Buffer
@ -71,7 +70,6 @@
#include <AC_WPNav/AC_WPNav.h> // ArduCopter waypoint navigation library
#include <AC_WPNav/AC_Circle.h> // circle navigation library
#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <AC_Avoidance/AC_Avoid.h> // Arducopter stop at fence library
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
#include <AP_Notify/AP_Notify.h> // Notify library
@ -97,6 +95,12 @@
#include "AP_Arming.h"
// libraries which are dependent on #defines in defines.h and/or config.h
#if BEACON_ENABLED == ENABLED
#include <AP_Beacon/AP_Beacon.h>
#endif
#if AC_AVOID_ENABLED == ENABLED
#include <AC_Avoidance/AC_Avoid.h>
#endif
#if SPRAYER == ENABLED
# include <AC_Sprayer/AC_Sprayer.h>
#endif
@ -520,7 +524,11 @@ private:
#endif
#if AC_AVOID_ENABLED == ENABLED
# if BEACON_ENABLED == ENABLED
AC_Avoid avoid{ahrs, fence, g2.proximity, &g2.beacon};
# else
AC_Avoid avoid{ahrs, fence, g2.proximity};
# endif
#endif
// Rally library

4
ArduCopter/config.h
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@ -668,10 +668,6 @@
#error Terrain requires ModeAuto which is disabled
#endif
#if AC_AVOID_ENABLED && !BEACON_ENABLED
#error AC_Avoid requires Beacon which is disabled
#endif
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//