Copter: remove AP_AHRS_NAVEKF_AVAILABLE checks

Copter requires an EKF

ArduCopter/GCS_Mavlink.cpp

@@ -665,10 +665,8 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         CHECK_PAYLOAD_SIZE(SIMSTATE);
         copter.send_simstate(chan);
 #endif
-#if AP_AHRS_NAVEKF_AVAILABLE
         CHECK_PAYLOAD_SIZE(AHRS2);
         copter.gcs[chan-MAVLINK_COMM_0].send_ahrs2(copter.ahrs);
-#endif
         break;
 
     case MSG_HWSTATUS:
@@ -703,10 +701,8 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         break;
 
     case MSG_EKF_STATUS_REPORT:
-#if AP_AHRS_NAVEKF_AVAILABLE
         CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT);
         copter.ahrs.get_NavEKF().send_status_report(chan);
-#endif
         break;
 
     case MSG_FENCE_STATUS:

ArduCopter/Log.cpp

@@ -365,14 +365,12 @@ void Copter::Log_Write_Attitude()
     Vector3f targets = attitude_control.angle_ef_targets();
     DataFlash.Log_Write_Attitude(ahrs, targets);
 
-#if AP_AHRS_NAVEKF_AVAILABLE
  #if OPTFLOW == ENABLED
     DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
  #else
     DataFlash.Log_Write_EKF(ahrs,false);
  #endif
     DataFlash.Log_Write_AHRS2(ahrs);
-#endif
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     sitl.Log_Write_SIMSTATE(DataFlash);
 #endif

ArduCopter/Parameters.cpp

@@ -1010,11 +1010,9 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
     // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
     GOBJECT(rcmap, "RCMAP_",        RCMapper),
 
-#if AP_AHRS_NAVEKF_AVAILABLE
     // @Group: EKF_
     // @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
     GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
-#endif
 
     // @Group: MIS_
     // @Path: ../libraries/AP_Mission/AP_Mission.cpp

ArduCopter/config.h

@@ -311,11 +311,7 @@
 //////////////////////////////////////////////////////////////////////////////
 //  OPTICAL_FLOW
 #ifndef OPTFLOW
- #if AP_AHRS_NAVEKF_AVAILABLE
-  # define OPTFLOW       ENABLED
- #else
-  # define OPTFLOW       DISABLED
- #endif
+ # define OPTFLOW       ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////

ArduCopter/ekf_check.cpp

@@ -85,7 +85,6 @@ void Copter::ekf_check()
 // ekf_over_threshold - returns true if the ekf's variance are over the tolerance
 bool Copter::ekf_over_threshold()
 {
-#if AP_AHRS_NAVEKF_AVAILABLE
     // return false immediately if disabled
     if (g.fs_ekf_thresh <= 0.0f) {
         return false;
@@ -107,9 +106,6 @@ bool Copter::ekf_over_threshold()
 
     // return true if compass and velocity variance over the threshold
     return (compass_variance >= g.fs_ekf_thresh && vel_variance >= g.fs_ekf_thresh);
-#else
-    return false;
-#endif
 }
 
 

ArduCopter/flight_mode.cpp

@@ -131,10 +131,9 @@ bool Copter::set_mode(uint8_t mode)
 // called at 100hz or more
 void Copter::update_flight_mode()
 {
-#if AP_AHRS_NAVEKF_AVAILABLE
     // Update EKF speed limit - used to limit speed when we are using optical flow
     ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
-#endif
+
     switch (control_mode) {
         case ACRO:
             #if FRAME_CONFIG == HELI_FRAME