Copter: optionalize the winch

ArduCopter/ArduCopter.cpp

@@ -153,7 +153,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if GRIPPER_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Gripper,           &copter.g2.gripper,          update,          10,  75),
 #endif
+#if WINCH_ENABLED == ENABLED
     SCHED_TASK(winch_update,          10,     50),
+#endif
 #ifdef USERHOOK_FASTLOOP
     SCHED_TASK(userhook_FastLoop,    100,     75),
 #endif

ArduCopter/Copter.h

@@ -95,8 +95,6 @@
 #include <AP_Arming/AP_Arming.h>
 #include <AP_VisualOdom/AP_VisualOdom.h>
 #include <AP_SmartRTL/AP_SmartRTL.h>
-#include <AP_WheelEncoder/AP_WheelEncoder.h>
-#include <AP_Winch/AP_Winch.h>
 #include <AP_TempCalibration/AP_TempCalibration.h>
 
 // Configuration
@@ -134,6 +132,11 @@
 #include "toy_mode.h"
 #endif
 
+#if WINCH_ENABLED == ENABLED
+#include <AP_WheelEncoder/AP_WheelEncoder.h>
+#include <AP_Winch/AP_Winch.h>
+#endif
+
 // Local modules
 #include "Parameters.h"
 #include "avoidance_adsb.h"

ArduCopter/GCS_Mavlink.cpp

@@ -1212,6 +1212,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             break;
 #endif
 
+#if WINCH_ENABLED == ENABLED
         case MAV_CMD_DO_WINCH:
             // param1 : winch number (ignored)
             // param2 : action (0=relax, 1=relative length control, 2=rate control). See WINCH_ACTIONS enum.
@@ -1244,6 +1245,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
                 }
             }
             break;
+#endif
 
         /* Solo user presses Fly button */
         case MAV_CMD_SOLO_BTN_FLY_CLICK: {

ArduCopter/Parameters.cpp

@@ -944,6 +944,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AP_SmartRTL/AP_SmartRTL.cpp
     AP_SUBGROUPINFO(smart_rtl, "SRTL_", 21, ParametersG2, AP_SmartRTL),
 
+#if WINCH_ENABLED == ENABLED
     // @Group: WENC
     // @Path: ../libraries/AP_WheelEncoder/AP_WheelEncoder.cpp
     AP_SUBGROUPINFO(wheel_encoder, "WENC", 22, ParametersG2, AP_WheelEncoder),
@@ -951,6 +952,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Group: WINCH_
     // @Path: ../libraries/AP_Winch/AP_Winch.cpp
     AP_SUBGROUPINFO(winch, "WINCH", 23, ParametersG2, AP_Winch),
+#endif
 
     // @Param: PILOT_SPEED_DN
     // @DisplayName: Pilot maximum vertical speed descending

ArduCopter/Parameters.h

@@ -553,8 +553,10 @@ public:
     AP_SmartRTL smart_rtl;
 
     // wheel encoder and winch
+#if WINCH_ENABLED == ENABLED
     AP_WheelEncoder wheel_encoder;
     AP_Winch winch;
+#endif
 
     // Additional pilot velocity items
     AP_Int16    pilot_speed_dn;

ArduCopter/commands_logic.cpp

@@ -160,9 +160,11 @@ bool Copter::ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         break;
 #endif
 
+#if WINCH_ENABLED == ENABLED
     case MAV_CMD_DO_WINCH:                             // Mission command to control winch
         do_winch(cmd);
         break;
+#endif
 
     default:
         // do nothing with unrecognized MAVLink messages
@@ -664,6 +666,7 @@ void Copter::ModeAuto::do_guided_limits(const AP_Mission::Mission_Command& cmd)
 }
 #endif
 
+#if WINCH_ENABLED == ENABLED
 // control winch based on mission command
 void Copter::ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd)
 {
@@ -686,6 +689,7 @@ void Copter::ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd)
             break;
     }
 }
+#endif
 
 /********************************************************************************/
 //	Verify Nav (Must) commands

ArduCopter/config.h

@@ -243,6 +243,12 @@
  # define GRIPPER_ENABLED ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Winch support
+#ifndef WINCH_ENABLED
+# define WINCH_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Parachute release
 #ifndef PARACHUTE

ArduCopter/mode.h

@@ -269,7 +269,9 @@ private:
 #if GRIPPER_ENABLED == ENABLED
     void do_gripper(const AP_Mission::Mission_Command& cmd);
 #endif
+#if WINCH_ENABLED == ENABLED
     void do_winch(const AP_Mission::Mission_Command& cmd);
+#endif
     void do_payload_place(const AP_Mission::Mission_Command& cmd);
     void do_RTL(void);
 

ArduCopter/sensors.cpp

@@ -507,13 +507,17 @@ void Copter::update_visual_odom()
 // winch and wheel encoder initialisation
 void Copter::winch_init()
 {
+#if WINCH_ENABLED == ENABLED
     g2.wheel_encoder.init();
     g2.winch.init(&g2.wheel_encoder);
+#endif
 }
 
 // winch and wheel encoder update
 void Copter::winch_update()
 {
+#if WINCH_ENABLED == ENABLED
     g2.wheel_encoder.update();
     g2.winch.update();
+#endif
 }

ArduCopter/switches.cpp

@@ -633,6 +633,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             break;
 
         case AUXSW_WINCH_ENABLE:
+#if WINCH_ENABLED == ENABLED
             switch (ch_flag) {
                 case AUX_SWITCH_HIGH:
                     // high switch maintains current position
@@ -645,9 +646,11 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                     Log_Write_Event(DATA_WINCH_RELAXED);
                     break;
                 }
+#endif
             break;
 
         case AUXSW_WINCH_CONTROL:
+#if WINCH_ENABLED == ENABLED
             switch (ch_flag) {
                 case AUX_SWITCH_LOW:
                     // raise winch at maximum speed
@@ -662,6 +665,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                     g2.winch.set_desired_rate(0.0f);
                     break;
                 }
+#endif
             break;
 
         case AUXSW_RC_OVERRIDE_ENABLE:

ArduCopter/tuning.cpp

@@ -213,6 +213,7 @@ void Copter::tuning() {
          attitude_control->get_rate_yaw_pid().filt_hz(tuning_value);
          break;
 
+#if WINCH_ENABLED == ENABLED
      case TUNING_WINCH: {
          float desired_rate = 0.0f;
          if (v > 0.6f) {
@@ -224,5 +225,6 @@ void Copter::tuning() {
          g2.winch.set_desired_rate(desired_rate);
          break;
          }
+#endif
      }
 }