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Copter: rename CONFIG_SONAR to RANGEFINDER_ENABLE

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This commit is contained in:
Randy Mackay 2016-04-27 19:55:35 +09:00
parent e0bf08abe0
commit 028946ae9e
12 changed files with 18 additions and 18 deletions
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2
ArduCopter/APM_Config.h
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@ -24,7 +24,7 @@
//#define AUTOTUNE_ENABLED DISABLED // disable the auto tune functionality to save 7k of flash
//#define AC_FENCE DISABLED // disable fence to save 2k of flash
//#define CAMERA DISABLED // disable camera trigger to save 1k of flash
//#define CONFIG_SONAR DISABLED // disable sonar to save 1k of flash
//#define RANGEFINDER_ENABLED DISABLED // disable rangefinder to save 1k of flash
//#define POSHOLD_ENABLED DISABLED // disable PosHold flight mode to save 4.5k of flash
//#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally)
//#define AC_TERRAIN DISABLED // disable terrain library

2
ArduCopter/Copter.h
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@ -169,7 +169,7 @@ private:
Compass compass;
AP_InertialSensor ins;
#if CONFIG_SONAR == ENABLED
#if RANGEFINDER_ENABLED == ENABLED
RangeFinder sonar {serial_manager};
bool sonar_enabled; // enable user switch for sonar
#endif

6
ArduCopter/GCS_Mavlink.cpp
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@ -249,7 +249,7 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
}
#endif
#if CONFIG_SONAR == ENABLED
#if RANGEFINDER_ENABLED == ENABLED
if (sonar.num_sensors() > 0) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
@ -409,7 +409,7 @@ void NOINLINE Copter::send_current_waypoint(mavlink_channel_t chan)
mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
}
#if CONFIG_SONAR == ENABLED
#if RANGEFINDER_ENABLED == ENABLED
void NOINLINE Copter::send_rangefinder(mavlink_channel_t chan)
{
// exit immediately if sonar is disabled
@ -633,7 +633,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
break;
case MSG_RANGEFINDER:
#if CONFIG_SONAR == ENABLED
#if RANGEFINDER_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(RANGEFINDER);
copter.send_rangefinder(chan);
#endif

2
ArduCopter/Parameters.cpp
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@ -895,7 +895,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
GOBJECT(rssi, "RSSI_", AP_RSSI),
#if CONFIG_SONAR == ENABLED
#if RANGEFINDER_ENABLED == ENABLED
// @Group: RNGFND
// @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp
GOBJECT(sonar, "RNGFND", RangeFinder),

2
ArduCopter/arming_checks.cpp
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@ -317,7 +317,7 @@ bool Copter::pre_arm_checks(bool display_failure)
return false;
}
#if CONFIG_SONAR == ENABLED && OPTFLOW == ENABLED
#if RANGEFINDER_ENABLED == ENABLED && OPTFLOW == ENABLED
// check range finder if optflow enabled
if (optflow.enabled() && !sonar.pre_arm_check()) {
if (display_failure) {

8
ArduCopter/config.h
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@ -48,8 +48,8 @@
#endif
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
#undef CONFIG_SONAR
#define CONFIG_SONAR DISABLED
#undef RANGEFINDER_ENABLED
#define RANGEFINDER_ENABLED DISABLED
#endif
#define MAGNETOMETER ENABLED
@ -125,8 +125,8 @@
// Sonar
//
#ifndef CONFIG_SONAR
# define CONFIG_SONAR ENABLED
#ifndef RANGEFINDER_ENABLED
# define RANGEFINDER_ENABLED ENABLED
#endif
#ifndef SONAR_ALT_HEALTH_MAX

2
ArduCopter/control_land.cpp
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@ -233,7 +233,7 @@ void Copter::land_nogps_run()
// should be called at 100hz or higher
float Copter::get_land_descent_speed()
{
#if CONFIG_SONAR == ENABLED
#if RANGEFINDER_ENABLED == ENABLED
bool sonar_ok = sonar_enabled && (sonar.status() == RangeFinder::RangeFinder_Good);
#else
bool sonar_ok = false;

4
ArduCopter/sensors.cpp
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@ -26,7 +26,7 @@ void Copter::read_barometer(void)
motors.set_air_density_ratio(barometer.get_air_density_ratio());
}
#if CONFIG_SONAR == ENABLED
#if RANGEFINDER_ENABLED == ENABLED
void Copter::init_sonar(void)
{
sonar.init();
@ -36,7 +36,7 @@ void Copter::init_sonar(void)
// return sonar altitude in centimeters
int16_t Copter::read_sonar(void)
{
#if CONFIG_SONAR == ENABLED
#if RANGEFINDER_ENABLED == ENABLED
sonar.update();
// exit immediately if sonar is disabled

2
ArduCopter/switches.cpp
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@ -347,7 +347,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
case AUXSW_SONAR:
// enable or disable the sonar
#if CONFIG_SONAR == ENABLED
#if RANGEFINDER_ENABLED == ENABLED
if (ch_flag == AUX_SWITCH_HIGH) {
sonar_enabled = true;
}else{

2
ArduCopter/system.cpp
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@ -257,7 +257,7 @@ void Copter::init_ardupilot()
init_barometer(true);
// initialise sonar
#if CONFIG_SONAR == ENABLED
#if RANGEFINDER_ENABLED == ENABLED
init_sonar();
#endif

2
ArduCopter/terrain.cpp
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@ -10,7 +10,7 @@ void Copter::terrain_update()
// tell the rangefinder our height, so it can go into power saving
// mode if available
#if CONFIG_SONAR == ENABLED
#if RANGEFINDER_ENABLED == ENABLED
float height;
if (terrain.height_above_terrain(height, true)) {
sonar.set_estimated_terrain_height(height);

2
ArduCopter/test.cpp
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@ -245,7 +245,7 @@ int8_t Copter::test_shell(uint8_t argc, const Menu::arg *argv)
*/
int8_t Copter::test_sonar(uint8_t argc, const Menu::arg *argv)
{
#if CONFIG_SONAR == ENABLED
#if RANGEFINDER_ENABLED == ENABLED
sonar.init();
cliSerial->printf("RangeFinder: %d devices detected\n", sonar.num_sensors());