Plane: remove define RANGEFINDER_ENABLED - always enabled

ArduPlane/GCS_Mavlink.cpp

@@ -382,7 +382,6 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
 
 void Plane::send_rangefinder(mavlink_channel_t chan)
 {
-#if RANGEFINDER_ENABLED == ENABLED
     if (!rangefinder.has_data()) {
         // no sonar to report
         return;
@@ -391,7 +390,6 @@ void Plane::send_rangefinder(mavlink_channel_t chan)
         chan,
         rangefinder.distance_cm() * 0.01f,
         rangefinder.voltage_mv()*0.001f);
-#endif
 }
 
 void Plane::send_current_waypoint(mavlink_channel_t chan)
@@ -1897,11 +1895,9 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         handle_gps_inject(msg, plane.gps);
         break;
 
-#if RANGEFINDER_ENABLED == ENABLED
     case MAVLINK_MSG_ID_DISTANCE_SENSOR:
         plane.rangefinder.handle_msg(msg);
         break;
-#endif
 
     case MAVLINK_MSG_ID_TERRAIN_DATA:
     case MAVLINK_MSG_ID_TERRAIN_CHECK:

ArduPlane/Log.cpp

@@ -342,7 +342,6 @@ struct PACKED log_Sonar {
 // Write a sonar packet
 void Plane::Log_Write_Sonar()
 {
-#if RANGEFINDER_ENABLED == ENABLED
     uint16_t distance = 0;
     if (rangefinder.status() == RangeFinder::RangeFinder_Good) {
         distance = rangefinder.distance_cm();
@@ -359,7 +358,6 @@ void Plane::Log_Write_Sonar()
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 
     DataFlash.Log_Write_RFND(rangefinder);
-#endif
 }
 
 struct PACKED log_Optflow {

ArduPlane/Parameters.cpp

@@ -1116,11 +1116,9 @@ const AP_Param::Info Plane::var_info[] = {
     GSCALAR(parachute_channel,      "CHUTE_CHAN",  0),
 #endif
 
-#if RANGEFINDER_ENABLED == ENABLED
     // @Group: RNGFND
     // @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp
     GOBJECT(rangefinder,            "RNGFND", RangeFinder),
-#endif
 
     // @Param: RNGFND_LANDING
     // @DisplayName: Enable rangefinder for landing

ArduPlane/Plane.h

@@ -215,8 +215,6 @@ private:
 
     AP_InertialSensor ins;
 
-#if RANGEFINDER_ENABLED == ENABLED
-    // rangefinder
     RangeFinder rangefinder {serial_manager};
 
     struct {
@@ -232,7 +230,6 @@ private:
         float height_estimate;
         float last_distance;
     } rangefinder_state;
-#endif
 
     AP_RPM rpm_sensor;
     

ArduPlane/altitude.cpp

@@ -139,11 +139,9 @@ int32_t Plane::relative_altitude_abs_cm(void)
  */
 float Plane::relative_ground_altitude(bool use_rangefinder_if_available)
 {
-#if RANGEFINDER_ENABLED == ENABLED
    if (use_rangefinder_if_available && rangefinder_state.in_range) {
         return rangefinder_state.height_estimate;
     }
-#endif
 
 #if AP_TERRAIN_AVAILABLE
     float altitude;
@@ -571,7 +569,6 @@ float Plane::lookahead_adjustment(void)
  */
 float Plane::rangefinder_correction(void)
 {
-#if RANGEFINDER_ENABLED == ENABLED
     if (millis() - rangefinder_state.last_correction_time_ms > 5000) {
         // we haven't had any rangefinder data for 5s - don't use it
         return 0;
@@ -588,12 +585,8 @@ float Plane::rangefinder_correction(void)
     }
 
     return rangefinder_state.correction;
-#else
-    return 0;
-#endif
 }
 
-#if RANGEFINDER_ENABLED == ENABLED
 /*
   update the offset between rangefinder height and terrain height
  */
@@ -680,4 +673,3 @@ void Plane::rangefinder_height_update(void)
         
     }
 }
-#endif

ArduPlane/commands_logic.cpp

@@ -401,10 +401,8 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
 
     auto_state.land_slope = 0;
 
-#if RANGEFINDER_ENABLED == ENABLED
     // zero rangefinder state, start to accumulate good samples now
     memset(&rangefinder_state, 0, sizeof(rangefinder_state));
-#endif
 }
 
 void Plane::loiter_set_direction_wp(const AP_Mission::Mission_Command& cmd)

ArduPlane/config.h

@@ -70,7 +70,6 @@
 #endif
 #endif
 
-#define RANGEFINDER_ENABLED ENABLED
 
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////

ArduPlane/landing.cpp

@@ -51,11 +51,7 @@ bool Plane::verify_land()
           rangefinder data (to prevent us keeping throttle on 
           after landing if we've had positive baro drift)
     */
-#if RANGEFINDER_ENABLED == ENABLED
     bool rangefinder_in_range = rangefinder_state.in_range;
-#else
-    bool rangefinder_in_range = false;
-#endif
 
     // flare check:
     // 1) below flare alt/sec requires approach stage check because if sec/alt are set too
@@ -160,7 +156,6 @@ void Plane::disarm_if_autoland_complete()
 
 void Plane::adjust_landing_slope_for_rangefinder_bump(void)
 {
-#if RANGEFINDER_ENABLED == ENABLED
     // check the rangefinder correction for a large change. When found, recalculate the glide slope. This is done by
     // determining the slope from your current location to the land point then following that back up to the approach
     // altitude and moving the prev_wp to that location. From there
@@ -206,7 +201,6 @@ void Plane::adjust_landing_slope_for_rangefinder_bump(void)
             g.land_slope_recalc_steep_threshold_to_abort = 0; // disable this feature so we only perform it once
         }
     }
-#endif
 }
 
 /*

ArduPlane/sensors.cpp

@@ -14,9 +14,7 @@ void Plane::init_barometer(bool full_calibration)
 
 void Plane::init_rangefinder(void)
 {
-#if RANGEFINDER_ENABLED == ENABLED
     rangefinder.init();
-#endif
 }
 
 /*
@@ -24,7 +22,6 @@ void Plane::init_rangefinder(void)
  */
 void Plane::read_rangefinder(void)
 {
-#if RANGEFINDER_ENABLED == ENABLED
 
     // notify the rangefinder of our approximate altitude above ground to allow it to power on
     // during low-altitude flight when configured to power down during higher-altitude flight
@@ -55,7 +52,6 @@ void Plane::read_rangefinder(void)
         Log_Write_Sonar();
 
     rangefinder_height_update();
-#endif
 }
 
 /*
@@ -347,7 +343,6 @@ void Plane::update_sensor_status_flags(void)
     }
 #endif
 
-#if RANGEFINDER_ENABLED == ENABLED
     if (rangefinder.num_sensors() > 0) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         if (g.rangefinder_landing) {
@@ -357,7 +352,6 @@ void Plane::update_sensor_status_flags(void)
             control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;            
         }
     }
-#endif
 
     if (aparm.throttle_min < 0 && channel_throttle->get_servo_out() < 0) {
         control_sensors_enabled |= MAV_SYS_STATUS_REVERSE_MOTOR;