Sub: create and use AP_OPTICALFLOW_ENABLED

ArduSub/ArduSub.cpp

@@ -48,7 +48,7 @@ SCHED_TASK_CLASS arguments:
 const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(fifty_hz_loop,         50,     75,   3),
     SCHED_TASK_CLASS(AP_GPS, &sub.gps, update, 50, 200,   6),
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     SCHED_TASK_CLASS(OpticalFlow,          &sub.optflow,             update,         200, 160,   9),
 #endif
     SCHED_TASK(update_batt_compass,   10,    120,  12),

ArduSub/GCS_Sub.cpp

@@ -56,7 +56,7 @@ void GCS_Sub::update_vehicle_sensor_status_flags()
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
     }
 
-#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;

ArduSub/Parameters.cpp

@@ -599,7 +599,7 @@ const AP_Param::Info Sub::var_info[] = {
     GOBJECT(terrain,                "TERRAIN_", AP_Terrain),
 #endif
 
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     // @Group: FLOW
     // @Path: ../libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
     GOBJECT(optflow,   "FLOW", OpticalFlow),

ArduSub/Sub.h

@@ -77,11 +77,9 @@
 #include "AP_Arming_Sub.h"
 #include "GCS_Sub.h"
 
-// libraries which are dependent on #defines in defines.h and/or config.h
-#if OPTFLOW == ENABLED
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
-#endif
 
+// libraries which are dependent on #defines in defines.h and/or config.h
 #if RCMAP_ENABLED == ENABLED
 #include <AP_RCMapper/AP_RCMapper.h>        // RC input mapping library
 #endif
@@ -167,7 +165,7 @@ private:
             FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)};
 
     // Optical flow sensor
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     OpticalFlow optflow;
 #endif
 

ArduSub/config.h

@@ -99,12 +99,6 @@
 # define EKF_ORIGIN_MAX_DIST_M         50000   // EKF origin and waypoints (including home) must be within 50km
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-//  OPTICAL_FLOW
-#ifndef OPTFLOW
-# define OPTFLOW       DISABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 //  gripper
 #ifndef GRIPPER_ENABLED

ArduSub/system.cpp

@@ -85,7 +85,7 @@ void Sub::init_ardupilot()
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();
 
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     // initialise optical flow sensor
     optflow.init(MASK_LOG_OPTFLOW);
 #endif
@@ -231,7 +231,7 @@ bool Sub::optflow_position_ok()
 
     // return immediately if neither optflow nor visual odometry is enabled
     bool enabled = false;
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     if (optflow.enabled()) {
         enabled = true;
     }