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APMrover2: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1

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This commit is contained in:
Lucas De Marchi 2015-11-03 11:46:30 -02:00 committed by Andrew Tridgell
parent 3b0a1ef563
commit 45ba94343d
4 changed files with 8 additions and 80 deletions
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4
APMrover2/Parameters.cpp
View File

@ -197,9 +197,7 @@ const AP_Param::Info Rover::var_info[] = {
// @Group: RC9_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_9, "RC9_", RC_Channel_aux),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC10_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_10, "RC10_", RC_Channel_aux),
@ -207,9 +205,7 @@ const AP_Param::Info Rover::var_info[] = {
// @Group: RC11_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_11, "RC11_", RC_Channel_aux),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC12_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_12, "RC12_", RC_Channel_aux),

20
APMrover2/Parameters.h
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@ -245,12 +245,8 @@ public:
RC_Channel_aux rc_8;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_9;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_10;
RC_Channel_aux rc_11;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_12;
RC_Channel_aux rc_13;
RC_Channel_aux rc_14;
@ -309,16 +305,12 @@ public:
rc_7(CH_7),
rc_8(CH_8),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_9 (CH_9),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_10 (CH_10),
rc_11 (CH_11),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_12 (CH_12),
rc_13 (CH_13),
rc_14 (CH_14),
rc_9(CH_9),
rc_10(CH_10),
rc_11(CH_11),
rc_12(CH_12),
rc_13(CH_13),
rc_14(CH_14),
#endif
// PID controller initial P initial I initial D initial imax

44
APMrover2/config.h
View File

@ -32,18 +32,6 @@
/// change in your local copy of APM_Config.h.
///
#if defined( __AVR_ATmega1280__ )
// default choices for a 1280. We can't fit everything in, so we
// make some popular choices by default
#define LOGGING_ENABLED DISABLED
#ifndef MOUNT
# define MOUNT DISABLED
#endif
#ifndef CAMERA
# define CAMERA DISABLED
#endif
#endif
// Just so that it's completely clear...
#define ENABLED 1
#define DISABLED 0
@ -58,13 +46,7 @@
#define HIL_MODE HIL_MODE_DISABLED
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define BATTERY_PIN_1 0
# define CURRENT_PIN_1 1
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define BATTERY_PIN_1 1
# define CURRENT_PIN_1 2
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
# define BATTERY_PIN_1 1
# define CURRENT_PIN_1 2
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
@ -98,11 +80,7 @@
//
#ifndef FRSKY_TELEM_ENABLED
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
# define FRSKY_TELEM_ENABLED DISABLED
#else
# define FRSKY_TELEM_ENABLED ENABLED
#endif
#define FRSKY_TELEM_ENABLED ENABLED
#endif
@ -286,25 +264,7 @@
# define LOGGING_ENABLED ENABLED
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define DEFAULT_LOG_BITMASK \
MASK_LOG_ATTITUDE_MED | \
MASK_LOG_GPS | \
MASK_LOG_PM | \
MASK_LOG_CTUN | \
MASK_LOG_NTUN | \
MASK_LOG_MODE | \
MASK_LOG_CMD | \
MASK_LOG_SONAR | \
MASK_LOG_COMPASS | \
MASK_LOG_CURRENT | \
MASK_LOG_STEERING | \
MASK_LOG_CAMERA
#else
// other systems have plenty of space for full logs
#define DEFAULT_LOG_BITMASK 0xffff
#endif
//////////////////////////////////////////////////////////////////////////////

20
APMrover2/system.cpp
View File

@ -74,10 +74,6 @@ static void failsafe_check_static()
rover.failsafe_check();
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
AP_ADC_ADS7844 apm1_adc;
#endif
void Rover::init_ardupilot()
{
// initialise console serial port
@ -147,10 +143,6 @@ void Rover::init_ardupilot()
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
apm1_adc.Init(); // APM ADC library initialization
#endif
if (g.compass_enabled==true) {
if (!compass.init()|| !compass.read()) {
cliSerial->println("Compass initialisation failed!");
@ -431,18 +423,6 @@ void Rover::check_usb_mux(void)
// the user has switched to/from the telemetry port
usb_connected = usb_check;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
// the APM2 has a MUX setup where the first serial port switches
// between USB and a TTL serial connection. When on USB we use
// SERIAL0_BAUD, but when connected as a TTL serial port we run it
// at SERIAL1_BAUD.
if (usb_connected) {
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_Console, 0);
} else {
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink, 0);
}
#endif
}