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Sub: Disable TRANSECT parameters

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This commit is contained in:
Jacob Walser 2016-11-25 18:50:34 -05:00 committed by Andrew Tridgell
parent 6426ceec27
commit eeadfa0d92
3 changed files with 14 additions and 4 deletions
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1
ArduSub/APM_Config.h
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@ -29,7 +29,6 @@
//#define CLI_ENABLED DISABLED // disable the CLI (command-line-interface) to save 21K of flash space //#define CLI_ENABLED DISABLED // disable the CLI (command-line-interface) to save 21K of flash space
//#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands //#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
//#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space //#define OPTFLOW DISABLED // disable optical flow sensor to save 5K of flash space
#define TRANSECT_ENABLED DISABLED
// features below are disabled by default on all boards // features below are disabled by default on all boards
//#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link

9
ArduSub/Parameters.h
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@ -448,9 +448,10 @@ public:
#if TRANSECT_ENABLED == ENABLED
AC_PID pid_crosstrack_control; AC_PID pid_crosstrack_control;
AC_PID pid_heading_control; AC_PID pid_heading_control;
#endif
// Autotune // Autotune
@ -492,11 +493,13 @@ public:
//---------------------------------------------------------------------- //----------------------------------------------------------------------
p_pos_xy (POS_XY_P), p_pos_xy (POS_XY_P),
p_alt_hold (ALT_HOLD_P), p_alt_hold (ALT_HOLD_P)
#if TRANSECT_ENABLED == ENABLED
,
pid_crosstrack_control (XTRACK_P, XTRACK_I, XTRACK_D, XTRACK_IMAX, XTRACK_FILT_HZ, XTRACK_DT), pid_crosstrack_control (XTRACK_P, XTRACK_I, XTRACK_D, XTRACK_IMAX, XTRACK_FILT_HZ, XTRACK_DT),
pid_heading_control (HEAD_P, HEAD_I, HEAD_D, HEAD_IMAX, HEAD_FILT_HZ, HEAD_DT) pid_heading_control (HEAD_P, HEAD_I, HEAD_D, HEAD_IMAX, HEAD_FILT_HZ, HEAD_DT)
#endif
{ {
} }

8
ArduSub/config.h
View File

@ -102,6 +102,14 @@
# define RCMAP_ENABLED DISABLED # define RCMAP_ENABLED DISABLED
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// Experimental transect modes
//
#ifndef TRANSECT_ENABLED
# define TRANSECT_ENABLED DISABLED
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Rangefinder // Rangefinder
// //