ArduCopter: add AP_GRIPPER_ENABLED

ArduCopter/APM_Config.h

@@ -13,7 +13,6 @@
 //#define BEACON_ENABLED        DISABLED            // disable beacon support
 //#define SPRAYER_ENABLED       DISABLED            // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
 //#define WINCH_ENABLED         DISABLED            // disable winch support
-//#define GRIPPER_ENABLED       DISABLED            // disable gripper 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/Copter.cpp

@@ -227,7 +227,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if AP_TERRAIN_AVAILABLE
     SCHED_TASK(terrain_update,        10,    100, 144),
 #endif
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
     SCHED_TASK_CLASS(AP_Gripper,           &copter.g2.gripper,          update,          10,  75, 147),
 #endif
 #if WINCH_ENABLED == ENABLED

ArduCopter/Copter.h

@@ -109,7 +109,8 @@
  #include <AC_WPNav/AC_WPNav_OA.h>
  #include <AC_Avoidance/AP_OAPathPlanner.h>
 #endif
-#if GRIPPER_ENABLED == ENABLED
+#include <AP_Gripper/AP_Gripper_config.h>
+#if AP_GRIPPER_ENABLED
  # include <AP_Gripper/AP_Gripper.h>
 #endif
 #if PRECISION_LANDING == ENABLED

ArduCopter/Parameters.cpp

@@ -825,7 +825,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(stats, "STAT", 12, ParametersG2, AP_Stats),
 #endif
 
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
     // @Group: GRIP_
     // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
     AP_SUBGROUPINFO(gripper, "GRIP_", 13, ParametersG2, AP_Gripper),

ArduCopter/Parameters.h

@@ -4,7 +4,8 @@
 #include "RC_Channel.h"
 #include <AP_Proximity/AP_Proximity.h>
 
-#if GRIPPER_ENABLED == ENABLED
+#include <AP_Gripper/AP_Gripper_config.h>
+#if AP_GRIPPER_ENABLED
  # include <AP_Gripper/AP_Gripper.h>
 #endif
 #if MODE_FOLLOW_ENABLED == ENABLED
@@ -502,7 +503,7 @@ public:
     AP_Stats stats;
 #endif
 
-#if GRIPPER_ENABLED
+#if AP_GRIPPER_ENABLED
     AP_Gripper gripper;
 #endif
 

ArduCopter/config.h

@@ -181,12 +181,6 @@
  # define PRECISION_LANDING ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// gripper - enabled only on larger firmwares
-#ifndef GRIPPER_ENABLED
- # define GRIPPER_ENABLED !HAL_MINIMIZE_FEATURES
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // winch support
 #ifndef WINCH_ENABLED

ArduCopter/crash_check.cpp

@@ -170,7 +170,7 @@ void Copter::thrust_loss_check()
         motors->set_thrust_boost(true);
         // the motors library disables this when it is no longer needed to achieve the commanded output
 
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
         if ((copter.g2.flight_options & uint32_t(FlightOptions::RELEASE_GRIPPER_ON_THRUST_LOSS)) != 0) {
             copter.g2.gripper.release();
         }

ArduCopter/events.cpp

@@ -478,7 +478,7 @@ void Copter::do_failsafe_action(FailsafeAction action, ModeReason reason){
             break;
     }
 
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
     if (failsafe_option(FailsafeOption::RELEASE_GRIPPER)) {
         copter.g2.gripper.release();
     }

ArduCopter/mode_auto.cpp

@@ -1978,7 +1978,7 @@ bool ModeAuto::verify_payload_place()
     case PayloadPlaceStateType_Releasing_Start:
         // Reinitialise vertical position controller to remove discontinuity due to touch down of payload
         pos_control->init_z_controller_no_descent();
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
         if (g2.gripper.valid()) {
             gcs().send_text(MAV_SEVERITY_INFO, "PayloadPlace: Releasing the gripper");
             g2.gripper.release();
@@ -1995,7 +1995,7 @@ bool ModeAuto::verify_payload_place()
         nav_payload_place.state = PayloadPlaceStateType_Releasing;
         FALLTHROUGH;
     case PayloadPlaceStateType_Releasing:
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
         if (g2.gripper.valid() && !g2.gripper.released()) {
             return false;
         }

ArduCopter/system.cpp

@@ -27,7 +27,7 @@ void Copter::init_ardupilot()
 #endif
 
     // init cargo gripper
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
     g2.gripper.init();
 #endif