diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp index 96e044d1d8..1fb4b65f3a 100644 --- a/ArduSub/Parameters.cpp +++ b/ArduSub/Parameters.cpp @@ -630,7 +630,7 @@ const AP_Param::Info Sub::var_info[] = { */ const AP_Param::GroupInfo ParametersG2::var_info[] = { -#if PROXIMITY_ENABLED == ENABLED +#if HAL_PROXIMITY_ENABLED // @Group: PRX // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp AP_SUBGROUPINFO(proximity, "PRX", 2, ParametersG2, AP_Proximity), diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h index 063f405049..13a99de694 100644 --- a/ArduSub/Parameters.h +++ b/ArduSub/Parameters.h @@ -324,7 +324,7 @@ public: AP_Gripper gripper; #endif -#if PROXIMITY_ENABLED == ENABLED +#if HAL_PROXIMITY_ENABLED // proximity (aka object avoidance) library AP_Proximity proximity; #endif diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h index b9b83c9b12..9bb08d4a75 100644 --- a/ArduSub/Sub.h +++ b/ArduSub/Sub.h @@ -66,6 +66,7 @@ #include <AP_JSButton/AP_JSButton.h> // Joystick/gamepad button function assignment #include <AP_LeakDetector/AP_LeakDetector.h> // Leak detector #include <AP_TemperatureSensor/TSYS01.h> +#include <AP_Proximity/AP_Proximity.h> // Local modules #include "defines.h" @@ -93,10 +94,6 @@ #include <AP_Gripper/AP_Gripper.h> // gripper stuff #endif -#if PROXIMITY_ENABLED == ENABLED -#include <AP_Proximity/AP_Proximity.h> -#endif - #if AVOIDANCE_ENABLED == ENABLED #include <AC_Avoidance/AC_Avoid.h> // Stop at fence library #endif diff --git a/ArduSub/config.h b/ArduSub/config.h index 50bbac0b13..8febdaee95 100644 --- a/ArduSub/config.h +++ b/ArduSub/config.h @@ -88,17 +88,10 @@ # define AVOIDANCE_ENABLED DISABLED #endif -#if AVOIDANCE_ENABLED == ENABLED // Avoidance Library relies on Proximity and Fence -# define PROXIMITY_ENABLED ENABLED +#if AVOIDANCE_ENABLED == ENABLED // Avoidance Library relies on Fence # define FENCE_ENABLED ENABLED #endif -// Proximity sensor -// -#ifndef PROXIMITY_ENABLED -# define PROXIMITY_ENABLED DISABLED -#endif - #ifndef MAV_SYSTEM_ID # define MAV_SYSTEM_ID 1 #endif