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Plane: fixed build with HAL_MINIMIZE_FEATURES enabled 

thanks to PompeCukor for noticing
This commit is contained in:
Andrew Tridgell 2019-04-08 07:56:08 +10:00
parent edd793c152
commit fb061a225a
7 changed files with 16 additions and 23 deletions
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24
ArduPlane/config.h
View File

@ -334,11 +334,7 @@
#endif
#ifndef HIL_SUPPORT
#if HAL_MINIMIZE_FEATURES
# define HIL_SUPPORT DISABLED
#else
# define HIL_SUPPORT ENABLED
#endif
# define HIL_SUPPORT !HAL_MINIMIZE_FEATURES
#endif
//////////////////////////////////////////////////////////////////////////////
@ -350,11 +346,7 @@
//////////////////////////////////////////////////////////////////////////////
// Payload Gripper
#ifndef GRIPPER_ENABLED
#if HAL_MINIMIZE_FEATURES
# define GRIPPER_ENABLED DISABLED
#else
# define GRIPPER_ENABLED ENABLED
#endif
#define GRIPPER_ENABLED !HAL_MINIMIZE_FEATURES
#endif
#ifndef STATS_ENABLED
@ -362,11 +354,7 @@
#endif
#ifndef DEVO_TELEM_ENABLED
#if HAL_MINIMIZE_FEATURES
#define DEVO_TELEM_ENABLED DISABLED
#else
#define DEVO_TELEM_ENABLED ENABLED
#endif
#define DEVO_TELEM_ENABLED !HAL_MINIMIZE_FEATURES
#endif
#ifndef OSD_ENABLED
@ -374,11 +362,7 @@
#endif
#ifndef SOARING_ENABLED
#if HAL_MINIMIZE_FEATURES
#define SOARING_ENABLED DISABLED
#else
#define SOARING_ENABLED ENABLED
#endif
#define SOARING_ENABLED !HAL_MINIMIZE_FEATURES
#endif
#ifndef LANDING_GEAR_ENABLED

1
ArduPlane/defines.h
View File

@ -63,6 +63,7 @@ enum mode_reason_t {
MODE_REASON_SOARING_IN_THERMAL,
MODE_REASON_SOARING_THERMAL_ESTIMATE_DETERIORATED,
MODE_REASON_VTOL_FAILED_TRANSITION,
MODE_REASON_UNAVAILABLE,
};
// type of stick mixing enabled

2
ArduPlane/mode_auto.cpp
View File

@ -15,7 +15,9 @@ bool ModeAuto::_enter()
// start or resume the mission, based on MIS_AUTORESET
plane.mission.start_or_resume();
#if SOARING_ENABLED == ENABLED
plane.g2.soaring_controller.init_cruising();
#endif
return true;
}

2
ArduPlane/mode_cruise.cpp
View File

@ -9,8 +9,10 @@ bool ModeCruise::_enter()
plane.cruise_state.locked_heading = false;
plane.cruise_state.lock_timer_ms = 0;
#if SOARING_ENABLED == ENABLED
// for ArduSoar soaring_controller
plane.g2.soaring_controller.init_cruising();
#endif
plane.set_target_altitude_current();

2
ArduPlane/mode_fbwb.cpp
View File

@ -7,8 +7,10 @@ bool ModeFBWB::_enter()
plane.auto_throttle_mode = true;
plane.auto_navigation_mode = false;
#if SOARING_ENABLED == ENABLED
// for ArduSoar soaring_controller
plane.g2.soaring_controller.init_cruising();
#endif
plane.set_target_altitude_current();

2
ArduPlane/mode_loiter.cpp
View File

@ -8,10 +8,12 @@ bool ModeLoiter::_enter()
plane.auto_navigation_mode = true;
plane.do_loiter_at_location();
#if SOARING_ENABLED == ENABLED
if (plane.g2.soaring_controller.is_active() && plane.g2.soaring_controller.suppress_throttle()) {
plane.g2.soaring_controller.init_thermalling();
plane.g2.soaring_controller.get_target(plane.next_WP_loc); // ahead on flight path
}
#endif
return true;
}

6
ArduPlane/system.cpp
View File

@ -244,10 +244,10 @@ bool Plane::set_mode(Mode &new_mode, const mode_reason_t reason)
}
#if !QAUTOTUNE_ENABLED
if (&new_mode == plane.mode_qautotune) {
if (&new_mode == &plane.mode_qautotune) {
gcs().send_text(MAV_SEVERITY_INFO,"QAUTOTUNE disabled");
set_mode(plane.mode_qhover);
return;
set_mode(plane.mode_qhover, MODE_REASON_UNAVAILABLE);
return false;
}
#endif