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Rover: make AP_RANGEFINDER_ENABLED remove more code

This commit is contained in:
Peter Barker 2023-11-08 09:23:42 +11:00 committed by Andrew Tridgell
parent a5d7000ffd
commit c40b1627dd
7 changed files with 16 additions and 0 deletions
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2
Rover/GCS_Rover.cpp
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@ -58,6 +58,7 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
} }
#endif #endif
#if AP_RANGEFINDER_ENABLED
const RangeFinder *rangefinder = RangeFinder::get_singleton(); const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder && rangefinder->num_sensors() > 0) { if (rangefinder && rangefinder->num_sensors() > 0) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
@ -67,4 +68,5 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
} }
} }
#endif
} }

2
Rover/Log.cpp
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@ -29,6 +29,7 @@ void Rover::Log_Write_Attitude()
} }
} }
#if AP_RANGEFINDER_ENABLED
// Write a range finder depth message // Write a range finder depth message
void Rover::Log_Write_Depth() void Rover::Log_Write_Depth()
{ {
@ -83,6 +84,7 @@ void Rover::Log_Write_Depth()
gcs().send_message(MSG_WATER_DEPTH); gcs().send_message(MSG_WATER_DEPTH);
#endif #endif
} }
#endif
// guided mode logging // guided mode logging
struct PACKED log_GuidedTarget { struct PACKED log_GuidedTarget {

2
Rover/Parameters.cpp
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@ -275,9 +275,11 @@ const AP_Param::Info Rover::var_info[] = {
// AP_SerialManager was here // AP_SerialManager was here
#if AP_RANGEFINDER_ENABLED
// @Group: RNGFND // @Group: RNGFND
// @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp // @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp
GOBJECT(rangefinder, "RNGFND", RangeFinder), GOBJECT(rangefinder, "RNGFND", RangeFinder),
#endif
// @Group: INS // @Group: INS
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp

2
Rover/Rover.cpp
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@ -70,7 +70,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
// Function name, Hz, us, // Function name, Hz, us,
SCHED_TASK(read_radio, 50, 200, 3), SCHED_TASK(read_radio, 50, 200, 3),
SCHED_TASK(ahrs_update, 400, 400, 6), SCHED_TASK(ahrs_update, 400, 400, 6),
#if AP_RANGEFINDER_ENABLED
SCHED_TASK(read_rangefinders, 50, 200, 9), SCHED_TASK(read_rangefinders, 50, 200, 9),
#endif
#if AP_OPTICALFLOW_ENABLED #if AP_OPTICALFLOW_ENABLED
SCHED_TASK_CLASS(AP_OpticalFlow, &rover.optflow, update, 200, 160, 11), SCHED_TASK_CLASS(AP_OpticalFlow, &rover.optflow, update, 200, 160, 11),
#endif #endif

4
Rover/Rover.h
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@ -206,8 +206,10 @@ private:
// true if we have a position estimate from AHRS // true if we have a position estimate from AHRS
bool have_position; bool have_position;
#if AP_RANGEFINDER_ENABLED
// range finder last update for each instance (used for DPTH logging) // range finder last update for each instance (used for DPTH logging)
uint32_t rangefinder_last_reading_ms[RANGEFINDER_MAX_INSTANCES]; uint32_t rangefinder_last_reading_ms[RANGEFINDER_MAX_INSTANCES];
#endif
// Ground speed // Ground speed
// The amount current ground speed is below min ground speed. meters per second // The amount current ground speed is below min ground speed. meters per second
@ -372,7 +374,9 @@ private:
void update_compass(void); void update_compass(void);
void compass_save(void); void compass_save(void);
void update_wheel_encoder(); void update_wheel_encoder();
#if AP_RANGEFINDER_ENABLED
void read_rangefinders(void); void read_rangefinders(void);
#endif
// Steering.cpp // Steering.cpp
void set_servos(void); void set_servos(void);

2
Rover/sensors.cpp
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@ -87,6 +87,7 @@ void Rover::update_wheel_encoder()
#endif #endif
} }
#if AP_RANGEFINDER_ENABLED
// read the rangefinders // read the rangefinders
void Rover::read_rangefinders(void) void Rover::read_rangefinders(void)
{ {
@ -95,3 +96,4 @@ void Rover::read_rangefinders(void)
Log_Write_Depth(); Log_Write_Depth();
#endif #endif
} }
#endif

2
Rover/system.cpp
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@ -40,9 +40,11 @@ void Rover::init_ardupilot()
airspeed.set_log_bit(MASK_LOG_IMU); airspeed.set_log_bit(MASK_LOG_IMU);
#endif #endif
#if AP_RANGEFINDER_ENABLED
// initialise rangefinder // initialise rangefinder
rangefinder.set_log_rfnd_bit(MASK_LOG_RANGEFINDER); rangefinder.set_log_rfnd_bit(MASK_LOG_RANGEFINDER);
rangefinder.init(ROTATION_NONE); rangefinder.init(ROTATION_NONE);
#endif
#if HAL_PROXIMITY_ENABLED #if HAL_PROXIMITY_ENABLED
// init proximity sensor // init proximity sensor