Plane: rename OFFBOARD_GUIDED to AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED

and remove comparison vs ENABLED

ArduPlane/GCS_Mavlink.cpp

@@ -878,8 +878,8 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_do_reposition(const mavlink_com
 MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet)
 {
   switch(packet.command) {
-    
-#if OFFBOARD_GUIDED == ENABLED
+
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     case MAV_CMD_GUIDED_CHANGE_SPEED: {
         // command is only valid in guided mode
         if (plane.control_mode != &plane.mode_guided) {
@@ -1008,7 +1008,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavl
         plane.guided_state.target_heading_time_ms = AP_HAL::millis();
         return MAV_RESULT_ACCEPTED;
     }
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 
 
   }

ArduPlane/Log.cpp

@@ -121,7 +121,7 @@ void Plane::Log_Write_Control_Tuning()
     logger.WriteBlock(&pkt, sizeof(pkt));
 }
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 struct PACKED log_OFG_Guided {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -265,7 +265,7 @@ void Plane::Log_Write_RC(void)
 
 void Plane::Log_Write_Guided(void)
 {
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     if (control_mode != &mode_guided) {
         return;
     }
@@ -277,7 +277,7 @@ void Plane::Log_Write_Guided(void)
     if ( is_positive(guided_state.target_alt) || is_positive(guided_state.target_airspeed_cm) ) {
         Log_Write_OFG_Guided();
     }
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 }
 
 // incoming-to-vehicle mavlink COMMAND_INT can be logged
@@ -483,7 +483,7 @@ const struct LogStructure Plane::log_structure[] = {
     { LOG_AETR_MSG, sizeof(log_AETR),
       "AETR", "Qfffffff",  "TimeUS,Ail,Elev,Thr,Rudd,Flap,Steer,SS", "s-------", "F-------" , true },
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 // @LoggerMessage: OFG
 // @Description: OFfboard-Guided - an advanced version of GUIDED for companion computers that includes rate/s.  
 // @Field: TimeUS: Time since system startup

ArduPlane/Parameters.cpp

@@ -1218,11 +1218,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("RTL_CLIMB_MIN", 27, ParametersG2, rtl_climb_min, 0),
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     // @Group: GUIDED_
     // @Path: ../libraries/AC_PID/AC_PID.cpp
     AP_SUBGROUPINFO(guidedHeading, "GUIDED_", 28, ParametersG2, AC_PID),
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 
     // @Param: MAN_EXPO_ROLL
     // @DisplayName: Manual control expo for roll

ArduPlane/Parameters.h

@@ -555,7 +555,7 @@ public:
     } fwd_batt_cmp;
 
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     // guided yaw heading PID
     AC_PID guidedHeading{5000.0,  0.0,   0.0, 0 ,  10.0,   5.0,  5.0 ,  5.0  , 0.0};
 #endif

ArduPlane/Plane.h

@@ -553,7 +553,7 @@ private:
         float forced_throttle;
         uint32_t last_forced_throttle_ms;
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
         // airspeed adjustments
         float target_airspeed_cm = -1;  // don't default to zero here, as zero is a valid speed.
         float target_airspeed_accel;
@@ -572,7 +572,7 @@ private:
         uint32_t target_heading_time_ms;
         guided_heading_type_t target_heading_type;
         bool target_heading_limit;
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     } guided_state;
 
 #if AP_LANDINGGEAR_ENABLED

ArduPlane/config.h

@@ -213,8 +213,8 @@
  # define FENCE_TRIGGERED_PIN -1
 #endif
 
-#ifndef OFFBOARD_GUIDED
- #define OFFBOARD_GUIDED 1
+#ifndef AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
+ #define AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED 1
 #endif
 
 //////////////////////////////////////////////////////////////////////////////

ArduPlane/mode.cpp

@@ -54,7 +54,7 @@ bool Mode::enter()
     plane.guided_state.last_forced_rpy_ms.zero();
     plane.guided_state.last_forced_throttle_ms = 0;
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     plane.guided_state.target_heading = -4; // radians here are in range -3.14 to 3.14, so a default value needs to be outside that range
     plane.guided_state.target_heading_type = GUIDED_HEADING_NONE;
     plane.guided_state.target_airspeed_cm = -1; // same as above, although an airspeed of -1 is rare on plane.

ArduPlane/mode_guided.cpp

@@ -42,7 +42,7 @@ void ModeGuided::update()
         plane.nav_roll_cd = constrain_int32(plane.guided_state.forced_rpy_cd.x, -plane.roll_limit_cd, plane.roll_limit_cd);
         plane.update_load_factor();
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     // guided_state.target_heading is radians at this point between -pi and pi ( defaults to -4 )
     // This function is used in Guided and AvoidADSB, check for guided
     } else if ((plane.control_mode == &plane.mode_guided) && (plane.guided_state.target_heading_type != GUIDED_HEADING_NONE) ) {
@@ -70,7 +70,7 @@ void ModeGuided::update()
         plane.nav_roll_cd = constrain_int32(desired, -bank_limit, bank_limit);
         plane.update_load_factor();
 
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     } else {
         plane.calc_nav_roll();
     }
@@ -128,7 +128,7 @@ void ModeGuided::set_radius_and_direction(const float radius, const bool directi
 
 void ModeGuided::update_target_altitude()
 {
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     if (((plane.guided_state.target_alt_time_ms != 0) || plane.guided_state.target_alt > -0.001 )) { // target_alt now defaults to -1, and _time_ms defaults to zero.
         // offboard altitude demanded
         uint32_t now = AP_HAL::millis();
@@ -148,7 +148,7 @@ void ModeGuided::update_target_altitude()
         plane.guided_state.last_target_alt = temp.alt;
         plane.set_target_altitude_location(temp);
     } else 
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
         {
         Mode::update_target_altitude();
     }

ArduPlane/navigation.cpp

@@ -187,7 +187,7 @@ void Plane::calc_airspeed_errors()
             target_airspeed_cm = ((int32_t)(aparm.airspeed_max - aparm.airspeed_min) *
                                   get_throttle_input()) + ((int32_t)aparm.airspeed_min * 100);
         }
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     } else if (control_mode == &mode_guided && guided_state.target_airspeed_cm >  0.0) { // if offboard guided speed change cmd not set, then this section is skipped
         // offboard airspeed demanded
         uint32_t now = AP_HAL::millis();
@@ -203,7 +203,7 @@ void Plane::calc_airspeed_errors()
             target_airspeed_cm = constrain_float(MAX(guided_state.target_airspeed_cm, target_airspeed_cm), aparm.airspeed_min *100, aparm.airspeed_max *100);
         }
 
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 
 #if HAL_SOARING_ENABLED
     } else if (g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed()) {
@@ -256,7 +256,7 @@ void Plane::calc_airspeed_errors()
     }
 
     // when using the special GUIDED mode features for slew control, don't allow airspeed nudging as it doesn't play nicely.
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     if (control_mode == &mode_guided && !is_zero(guided_state.target_airspeed_cm) && (airspeed_nudge_cm != 0)) {
         airspeed_nudge_cm = 0; //airspeed_nudge_cm forced to zero
     }