From caee9f271a6cd7db4cef2da0559bcde534275331 Mon Sep 17 00:00:00 2001
From: tzarjakob <giacomo.mazzucchi@protonmail.com>
Date: Wed, 22 Mar 2023 09:45:41 +0100
Subject: [PATCH] Rover: configuration of Precision Landing for custom build
 server

---
 Rover/GCS_Mavlink.cpp       | 2 +-
 Rover/Parameters.cpp        | 2 +-
 Rover/Rover.cpp             | 2 +-
 Rover/Rover.h               | 7 ++++---
 Rover/config.h              | 8 +-------
 Rover/precision_landing.cpp | 2 +-
 Rover/system.cpp            | 2 +-
 7 files changed, 10 insertions(+), 15 deletions(-)

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index acfa8699b9..92d1742651 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -1063,7 +1063,7 @@ void GCS_MAVLINK_Rover::handle_radio(const mavlink_message_t &msg)
 */
 void GCS_MAVLINK_Rover::handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms)
 {
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
     rover.precland.handle_msg(packet, timestamp_ms);
 #endif
 }
diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 1de13e3f6b..89738d9cae 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -297,7 +297,7 @@ const AP_Param::Info Rover::var_info[] = {
     GOBJECT(camera, "CAM", AP_Camera),
 #endif
 
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
     // @Group: PLND_
     // @Path: ../libraries/AC_PrecLand/AC_PrecLand.cpp
     GOBJECT(precland,                "PLND_", AC_PrecLand),
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index bb6f56120a..f264315234 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -98,7 +98,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #if AP_GRIPPER_ENABLED
     SCHED_TASK_CLASS(AP_Gripper,          &rover.g2.gripper,       update,         10,   75,  69),
 #endif
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
     SCHED_TASK(update_precland,      400,     50,  70),
 #endif
 #if AP_RPM_ENABLED
diff --git a/Rover/Rover.h b/Rover/Rover.h
index b06a257033..f11bae3d60 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -42,6 +42,7 @@
 #include <AP_Mission/AP_Mission_ChangeDetector.h>
 #include <AR_WPNav/AR_WPNav_OA.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
+#include <AC_PrecLand/AC_PrecLand_config.h>
 
 // Configuration
 #include "defines.h"
@@ -61,10 +62,10 @@
 #include "GCS_Mavlink.h"
 #include "GCS_Rover.h"
 #include "AP_Rally.h"
-#include "RC_Channel.h"                  // RC Channel Library
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
 #include <AC_PrecLand/AC_PrecLand.h>
 #endif
+#include "RC_Channel.h"                  // RC Channel Library
 
 #include "mode.h"
 
@@ -145,7 +146,7 @@ private:
 #if OSD_ENABLED || OSD_PARAM_ENABLED
     AP_OSD osd;
 #endif
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
     AC_PrecLand precland;
 #endif
     // GCS handling
diff --git a/Rover/config.h b/Rover/config.h
index 6983f9d122..77b2981c5f 100644
--- a/Rover/config.h
+++ b/Rover/config.h
@@ -38,12 +38,6 @@
  #define AP_RALLY ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Precision Landing with companion computer or IRLock sensor
-#ifndef PRECISION_LANDING
- # define PRECISION_LANDING ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // NAVL1
 //
@@ -70,7 +64,7 @@
 //////////////////////////////////////////////////////////////////////////////
 // Dock mode - allows vehicle to dock to a docking target
 #ifndef MODE_DOCK_ENABLED
-# define MODE_DOCK_ENABLED PRECISION_LANDING
+# define MODE_DOCK_ENABLED AC_PRECLAND_ENABLED
 #endif
 
 
diff --git a/Rover/precision_landing.cpp b/Rover/precision_landing.cpp
index 12b33174eb..c62b499b6a 100644
--- a/Rover/precision_landing.cpp
+++ b/Rover/precision_landing.cpp
@@ -4,7 +4,7 @@
 
 #include "Rover.h"
 
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
 
 void Rover::init_precland()
 {
diff --git a/Rover/system.cpp b/Rover/system.cpp
index c7a17b10d5..78e4107254 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -117,7 +117,7 @@ void Rover::init_ardupilot()
     camera.init();
 #endif
 
-#if PRECISION_LANDING == ENABLED
+#if AC_PRECLAND_ENABLED
     // initialise precision landing
     init_precland();
 #endif