ArduPlane: make AP_RANGEFINDER_ENABLED remove more code

ArduPlane/ArduPlane.cpp

@@ -81,7 +81,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_ServoRelayEvents, &plane.ServoRelayEvents, update_events, 50, 150,  63),
 #endif
     SCHED_TASK_CLASS(AP_BattMonitor, &plane.battery, read,   10, 300,  66),
+#if AP_RANGEFINDER_ENABLED
     SCHED_TASK(read_rangefinder,       50,    100, 78),
+#endif
 #if AP_ICENGINE_ENABLED
     SCHED_TASK_CLASS(AP_ICEngine,      &plane.g2.ice_control, update,     10, 100,  81),
 #endif
@@ -750,7 +752,9 @@ float Plane::tecs_hgt_afe(void)
     float hgt_afe;
     if (flight_stage == AP_FixedWing::FlightStage::LAND) {
         hgt_afe = height_above_target();
+#if AP_RANGEFINDER_ENABLED
         hgt_afe -= rangefinder_correction();
+#endif
     } else {
         // when in normal flight we pass the hgt_afe as relative
         // altitude to home
@@ -967,7 +971,11 @@ bool Plane::flight_option_enabled(FlightOptions flight_option) const
 void Plane::precland_update(void)
 {
     // alt will be unused if we pass false through as the second parameter:
+#if AP_RANGEFINDER_ENABLED
     return g2.precland.update(rangefinder_state.height_estimate*100, rangefinder_state.in_range);
+#else
+    return g2.precland.update(0, false);
+#endif
 }
 #endif
 

ArduPlane/GCS_Plane.cpp

@@ -114,6 +114,7 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
     }
 #endif
 
+#if AP_RANGEFINDER_ENABLED
     const RangeFinder *rangefinder = RangeFinder::get_singleton();
     if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
@@ -124,4 +125,5 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
             control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;            
         }
     }
+#endif
 }

ArduPlane/Parameters.cpp

@@ -764,6 +764,7 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(parachute,		"CHUTE_", AP_Parachute),
 #endif
 
+#if AP_RANGEFINDER_ENABLED
     // @Group: RNGFND
     // @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp
     GOBJECT(rangefinder,            "RNGFND", RangeFinder),
@@ -774,6 +775,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Values: 0:Disabled,1:Enabled
     // @User: Standard
     GSCALAR(rangefinder_landing,    "RNGFND_LANDING",   0),
+#endif
 
 #if AP_TERRAIN_AVAILABLE
     // @Group: TERRAIN_

ArduPlane/Plane.h

@@ -39,7 +39,7 @@
 #include <AP_AccelCal/AP_AccelCal.h>                // interface and maths for accelerometer calibration
 #include <AP_AHRS/AP_AHRS.h>         // ArduPilot Mega DCM Library
 #include <SRV_Channel/SRV_Channel.h>
-#include <AP_RangeFinder/AP_RangeFinder.h>     // Range finder library
+#include <AP_RangeFinder/AP_RangeFinder_config.h>     // Range finder library
 #include <Filter/Filter.h>                     // Filter library
 #include <AP_Camera/AP_Camera.h>          // Photo or video camera
 #include <AP_Terrain/AP_Terrain.h>
@@ -206,7 +206,9 @@ private:
     AP_Int8 *flight_modes = &g.flight_mode1;
     const uint8_t num_flight_modes = 6;
 
+#if AP_RANGEFINDER_ENABLED
     AP_FixedWing::Rangefinder_State rangefinder_state;
+#endif
 
 #if AP_RPM_ENABLED
     AP_RPM rpm_sensor;
@@ -865,9 +867,11 @@ private:
     float mission_alt_offset(void);
     float height_above_target(void);
     float lookahead_adjustment(void);
+#if AP_RANGEFINDER_ENABLED
     float rangefinder_correction(void);
     void rangefinder_height_update(void);
     void rangefinder_terrain_correction(float &height);
+#endif
     void stabilize();
     void calc_throttle();
     void calc_nav_roll();
@@ -1074,8 +1078,10 @@ private:
     bool rc_throttle_value_ok(void) const;
     bool rc_failsafe_active(void) const;
 
+#if AP_RANGEFINDER_ENABLED
     // sensors.cpp
     void read_rangefinder(void);
+#endif
 
     // system.cpp
     void init_ardupilot() override;

ArduPlane/altitude.cpp

@@ -115,11 +115,13 @@ int32_t Plane::get_RTL_altitude_cm() const
  */
 float Plane::relative_ground_altitude(bool use_rangefinder_if_available, bool use_terrain_if_available)
 {
+#if AP_RANGEFINDER_ENABLED
    if (use_rangefinder_if_available && rangefinder_state.in_range) {
         return rangefinder_state.height_estimate;
    }
+#endif
 
-#if HAL_QUADPLANE_ENABLED
+#if HAL_QUADPLANE_ENABLED && AP_RANGEFINDER_ENABLED
    if (use_rangefinder_if_available && quadplane.in_vtol_land_final() &&
        rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::OutOfRangeLow) {
        // a special case for quadplane landing when rangefinder goes
@@ -252,8 +254,10 @@ int32_t Plane::relative_target_altitude_cm(void)
         target_altitude.lookahead = lookahead_adjustment();
         relative_home_height += target_altitude.lookahead;
 
+#if AP_RANGEFINDER_ENABLED
         // correct for rangefinder data
         relative_home_height += rangefinder_correction();
+#endif
 
         // we are following terrain, and have terrain data for the
         // current location. Use it.
@@ -262,7 +266,9 @@ int32_t Plane::relative_target_altitude_cm(void)
 #endif
     int32_t relative_alt = target_altitude.amsl_cm - home.alt;
     relative_alt += mission_alt_offset()*100;
+#if AP_RANGEFINDER_ENABLED
     relative_alt += rangefinder_correction() * 100;
+#endif
     return relative_alt;
 }
 
@@ -608,6 +614,7 @@ float Plane::lookahead_adjustment(void)
 }
 
 
+#if AP_RANGEFINDER_ENABLED
 /*
   correct target altitude using rangefinder data. Returns offset in
   meters to correct target altitude. A positive number means we need
@@ -747,6 +754,7 @@ void Plane::rangefinder_height_update(void)
         
     }
 }
+#endif  // AP_RANGEFINDER_ENABLED
 
 /*
   determine if Non Auto Terrain Disable is active and allowed in present control mode

ArduPlane/commands_logic.cpp

@@ -255,14 +255,23 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
 
         } else {
             // use rangefinder to correct if possible
+#if AP_RANGEFINDER_ENABLED
             float height = height_above_target() - rangefinder_correction();
+#else
+            float height = height_above_target();
+#endif
             // for flare calculations we don't want to use the terrain
             // correction as otherwise we will flare early on rising
             // ground
             height -= auto_state.terrain_correction;
             return landing.verify_land(prev_WP_loc, next_WP_loc, current_loc,
                                        height, auto_state.sink_rate, auto_state.wp_proportion, auto_state.last_flying_ms, arming.is_armed(), is_flying(),
-                                       g.rangefinder_landing && rangefinder_state.in_range);
+#if AP_RANGEFINDER_ENABLED
+                                       g.rangefinder_landing && rangefinder_state.in_range
+#else
+                                       false
+#endif
+                );
         }
 
     case MAV_CMD_NAV_LOITER_UNLIM:
@@ -421,8 +430,10 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
         auto_state.takeoff_pitch_cd = 1000;
     }
 
+#if AP_RANGEFINDER_ENABLED
     // zero rangefinder state, start to accumulate good samples now
     memset(&rangefinder_state, 0, sizeof(rangefinder_state));
+#endif
 
     landing.do_land(cmd, relative_altitude);
 

ArduPlane/mode.cpp

@@ -168,7 +168,9 @@ void Mode::update_target_altitude()
         plane.set_target_altitude_location(plane.next_WP_loc);
     } else if (plane.landing.is_on_approach()) {
         plane.landing.setup_landing_glide_slope(plane.prev_WP_loc, plane.next_WP_loc, plane.current_loc, plane.target_altitude.offset_cm);
+#if AP_RANGEFINDER_ENABLED
         plane.landing.adjust_landing_slope_for_rangefinder_bump(plane.rangefinder_state, plane.prev_WP_loc, plane.next_WP_loc, plane.current_loc, plane.auto_state.wp_distance, plane.target_altitude.offset_cm);
+#endif
     } else if (plane.landing.get_target_altitude_location(target_location)) {
         plane.set_target_altitude_location(target_location);
 #if HAL_SOARING_ENABLED

ArduPlane/quadplane.cpp

@@ -3777,7 +3777,11 @@ float QuadPlane::forward_throttle_pct()
         // approach the landing point when landing below the takeoff point
         vel_forward.last_pct = vel_forward.integrator;
     } else if ((in_vtol_land_final() && motors->limit.throttle_lower) ||
+#if AP_RANGEFINDER_ENABLED
               (plane.g.rangefinder_landing && (plane.rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::OutOfRangeLow))) {
+#else
+              false) {
+#endif
         // we're in the settling phase of landing or using a rangefinder that is out of range low, disable fwd motor
         vel_forward.last_pct = 0;
         vel_forward.integrator = 0;

ArduPlane/sensors.cpp

@@ -2,6 +2,7 @@
 #include <AP_RSSI/AP_RSSI.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 
+#if AP_RANGEFINDER_ENABLED
 /*
   read the rangefinder and update height estimate
  */
@@ -33,3 +34,5 @@ void Plane::read_rangefinder(void)
 
     rangefinder_height_update();
 }
+
+#endif  // AP_RANGEFINDER_ENABLED

ArduPlane/system.cpp

@@ -36,9 +36,11 @@ void Plane::init_ardupilot()
     // init baro
     barometer.init();
 
+#if AP_RANGEFINDER_ENABLED
     // initialise rangefinder
     rangefinder.set_log_rfnd_bit(MASK_LOG_SONAR);
     rangefinder.init(ROTATION_PITCH_270);
+#endif
 
     // initialise battery monitoring
     battery.init();