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ArduSub: remove AC_TERRAIN compilation option

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Use AP_TERRAIN_AVAILABLE instead
This commit is contained in:
Peter Barker 2021-02-13 14:40:10 +11:00 committed by Andrew Tridgell
parent 3684741517
commit ed0b0451cf
8 changed files with 11 additions and 15 deletions
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8
ArduSub/GCS_Mavlink.cpp
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@ -226,7 +226,7 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
break; break;
case MSG_TERRAIN: case MSG_TERRAIN:
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST); CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
sub.terrain.send_request(chan); sub.terrain.send_request(chan);
#endif #endif
@ -361,7 +361,7 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
MSG_SYSTEM_TIME, MSG_SYSTEM_TIME,
MSG_RANGEFINDER, MSG_RANGEFINDER,
MSG_DISTANCE_SENSOR, MSG_DISTANCE_SENSOR,
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE
MSG_TERRAIN, MSG_TERRAIN,
#endif #endif
MSG_BATTERY2, MSG_BATTERY2,
@ -709,7 +709,7 @@ void GCS_MAVLINK_Sub::handleMessage(const mavlink_message_t &msg)
case MAVLINK_MSG_ID_TERRAIN_DATA: case MAVLINK_MSG_ID_TERRAIN_DATA:
case MAVLINK_MSG_ID_TERRAIN_CHECK: case MAVLINK_MSG_ID_TERRAIN_CHECK:
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE
sub.terrain.handle_data(chan, msg); sub.terrain.handle_data(chan, msg);
#endif #endif
break; break;
@ -761,7 +761,7 @@ uint64_t GCS_MAVLINK_Sub::capabilities() const
MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED |
MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT |
MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION | MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION |
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE
(sub.terrain.enabled() ? MAV_PROTOCOL_CAPABILITY_TERRAIN : 0) | (sub.terrain.enabled() ? MAV_PROTOCOL_CAPABILITY_TERRAIN : 0) |
#endif #endif
MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET | MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET |

2
ArduSub/GCS_Sub.cpp
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@ -67,7 +67,7 @@ void GCS_Sub::update_vehicle_sensor_status_flags()
} }
#endif #endif
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE
switch (sub.terrain.status()) { switch (sub.terrain.status()) {
case AP_Terrain::TerrainStatusDisabled: case AP_Terrain::TerrainStatusDisabled:
break; break;

2
ArduSub/Log.cpp
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@ -27,7 +27,7 @@ void Sub::Log_Write_Control_Tuning()
{ {
// get terrain altitude // get terrain altitude
float terr_alt = 0.0f; float terr_alt = 0.0f;
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE
terrain.height_above_terrain(terr_alt, true); terrain.height_above_terrain(terr_alt, true);
#endif #endif

2
ArduSub/Parameters.cpp
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@ -593,7 +593,7 @@ const AP_Param::Info Sub::var_info[] = {
GOBJECT(rangefinder, "RNGFND", RangeFinder), GOBJECT(rangefinder, "RNGFND", RangeFinder),
#endif #endif
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE
// @Group: TERRAIN_ // @Group: TERRAIN_
// @Path: ../libraries/AP_Terrain/AP_Terrain.cpp // @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
GOBJECT(terrain, "TERRAIN_", AP_Terrain), GOBJECT(terrain, "TERRAIN_", AP_Terrain),

2
ArduSub/Sub.h
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@ -372,7 +372,7 @@ private:
#endif #endif
// terrain handling // terrain handling
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE
AP_Terrain terrain{mission}; AP_Terrain terrain{mission};
#endif #endif

4
ArduSub/config.h
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@ -244,7 +244,3 @@
#ifndef AC_RALLY #ifndef AC_RALLY
#define AC_RALLY DISABLED #define AC_RALLY DISABLED
#endif #endif
#ifndef AC_TERRAIN
#define AC_TERRAIN DISABLED // Requires Rally enabled as well
#endif

2
ArduSub/system.cpp
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@ -84,7 +84,7 @@ void Sub::init_ardupilot()
AP::compass().init(); AP::compass().init();
// init Location class // init Location class
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE
Location::set_terrain(&terrain); Location::set_terrain(&terrain);
wp_nav.set_terrain(&terrain); wp_nav.set_terrain(&terrain);
#endif #endif

4
ArduSub/terrain.cpp
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@ -3,7 +3,7 @@
// update terrain data // update terrain data
void Sub::terrain_update() void Sub::terrain_update()
{ {
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE
terrain.update(); terrain.update();
// tell the rangefinder our height, so it can go into power saving // tell the rangefinder our height, so it can go into power saving
@ -20,7 +20,7 @@ void Sub::terrain_update()
// log terrain data - should be called at 1hz // log terrain data - should be called at 1hz
void Sub::terrain_logging() void Sub::terrain_logging()
{ {
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE
if (should_log(MASK_LOG_GPS)) { if (should_log(MASK_LOG_GPS)) {
terrain.log_terrain_data(); terrain.log_terrain_data();
} }