From e55eea961fb2e85bea5ecc6ff92ba3b5f3c3054f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 24 Dec 2021 19:17:51 +1100
Subject: [PATCH] ArduPlane: create and use AP_OPTICALFLOW_ENABLED

---
 ArduPlane/ArduPlane.cpp  | 2 +-
 ArduPlane/GCS_Plane.cpp  | 2 +-
 ArduPlane/Parameters.cpp | 2 +-
 ArduPlane/Plane.h        | 2 +-
 ArduPlane/config.h       | 9 ---------
 ArduPlane/system.cpp     | 2 +-
 6 files changed, 5 insertions(+), 14 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index b188186ee3..d8a7dfb9c5 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -84,7 +84,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(read_rangefinder,       50,    100, 78),
     SCHED_TASK_CLASS(AP_ICEngine,      &plane.g2.ice_control, update,     10, 100,  81),
     SCHED_TASK_CLASS(Compass,          &plane.compass,        cal_update, 50,  50,  84),
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update,    50,    50,  87),
 #endif
     SCHED_TASK(one_second_loop,         1,    400,  90),
diff --git a/ArduPlane/GCS_Plane.cpp b/ArduPlane/GCS_Plane.cpp
index 7b66fcdf54..0a8012a314 100644
--- a/ArduPlane/GCS_Plane.cpp
+++ b/ArduPlane/GCS_Plane.cpp
@@ -110,7 +110,7 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION;
     }
 
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     const OpticalFlow *optflow = AP::opticalflow();
     if (optflow && optflow->enabled()) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 461ed33e62..f5903998e4 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -938,7 +938,7 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(afs,  "AFS_", AP_AdvancedFailsafe),
 #endif
 
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     // @Group: FLOW
     // @Path: ../libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
     GOBJECT(optflow,   "FLOW", OpticalFlow),
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 2f11117a2a..914677d6e3 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -241,7 +241,7 @@ private:
     AP_Camera camera{MASK_LOG_CAMERA};
 #endif
 
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     // Optical flow sensor
     OpticalFlow optflow;
 #endif
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 209c9113d4..f27263f074 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -33,15 +33,6 @@
 #endif
 
 
-//////////////////////////////////////////////////////////////////////////////
-// Optical flow sensor support
-//
-
-#ifndef OPTFLOW
- # define OPTFLOW ENABLED
-#endif
-
-
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 64d83bf99b..fc76eea9bb 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -136,7 +136,7 @@ void Plane::init_ardupilot()
     reset_control_switch();
 
     // initialise sensor
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     if (optflow.enabled()) {
         optflow.init(-1);
     }