From f637facea299ff8f7de305fcc0192367929844ba Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 25 Dec 2021 09:05:23 +1100
Subject: [PATCH] Sub: create and use AP_OPTICALFLOW_ENABLED

---
 ArduSub/ArduSub.cpp    | 2 +-
 ArduSub/GCS_Sub.cpp    | 2 +-
 ArduSub/Parameters.cpp | 2 +-
 ArduSub/Sub.h          | 6 ++----
 ArduSub/config.h       | 6 ------
 ArduSub/system.cpp     | 4 ++--
 6 files changed, 7 insertions(+), 15 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 6c36dd7eb5..4b8e8e930d 100644
--- a/ArduSub/ArduSub.cpp
+++ b/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),
diff --git a/ArduSub/GCS_Sub.cpp b/ArduSub/GCS_Sub.cpp
index e856c04cad..0946c397ad 100644
--- a/ArduSub/GCS_Sub.cpp
+++ b/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;
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index dbaa311a93..9ad30ae14a 100644
--- a/ArduSub/Parameters.cpp
+++ b/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),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 64d6017d1f..f713f9b6ae 100644
--- a/ArduSub/Sub.h
+++ b/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
 
diff --git a/ArduSub/config.h b/ArduSub/config.h
index 02e92978f1..1b8828eafd 100644
--- a/ArduSub/config.h
+++ b/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
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 93d6bea262..e76ea79ce6 100644
--- a/ArduSub/system.cpp
+++ b/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;
     }