Plane: cleanup driver declaration
remove a lot of the #if nesting
This commit is contained in:
Andrew Tridgell
parent
52f560a4c2
commit
4d9a74d742
@ -136,24 +136,16 @@ static GPS *g_gps;
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// flight modes convenience array
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static AP_Int8 *flight_modes = &g.flight_mode1;
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#if HIL_MODE == HIL_MODE_DISABLED
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// real sensors
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#if CONFIG_ADC == ENABLED
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static AP_ADC_ADS7844 adc;
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#endif
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# if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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AP_InertialSensor_Stub ins;
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SITL sitl;
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#else
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#if CONFIG_BARO == AP_BARO_BMP085
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static AP_Baro_BMP085 barometer;
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#elif CONFIG_BARO == AP_BARO_PX4
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static AP_Baro_PX4 barometer;
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#elif CONFIG_BARO == AP_BARO_HIL
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static AP_Baro_BMP085_HIL barometer;
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#elif CONFIG_BARO == AP_BARO_MS5611
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#if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
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@ -162,36 +154,44 @@ static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
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#else
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#error Unrecognized CONFIG_MS5611_SERIAL setting.
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#endif
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static AP_Compass_PX4 compass;
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#else
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static AP_Compass_HMC5843 compass;
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#endif
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#error Unrecognized CONFIG_BARO setting
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#endif
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// real GPS selection
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#if CONFIG_COMPASS == AP_COMPASS_PX4
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static AP_Compass_PX4 compass;
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#elif CONFIG_COMPASS == AP_COMPASS_HMC5843
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static AP_Compass_HMC5843 compass;
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#elif CONFIG_COMPASS == AP_COMPASS_HIL
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static AP_Compass_HIL compass;
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#else
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#error Unrecognized CONFIG_COMPASS setting
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#endif
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// GPS selection
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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AP_GPS_Auto g_gps_driver(&g_gps);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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AP_GPS_NMEA g_gps_driver();
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AP_GPS_NMEA g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
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AP_GPS_SIRF g_gps_driver();
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AP_GPS_SIRF g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
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AP_GPS_UBLOX g_gps_driver();
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AP_GPS_UBLOX g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
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AP_GPS_MTK g_gps_driver();
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AP_GPS_MTK g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19
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AP_GPS_MTK19 g_gps_driver();
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AP_GPS_MTK19 g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
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AP_GPS_None g_gps_driver();
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AP_GPS_None g_gps_driver;
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#elif GPS_PROTOCOL == GPS_PROTOCOL_HIL
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AP_GPS_HIL g_gps_driver;
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#else
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#error Unrecognised GPS_PROTOCOL setting.
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@ -201,30 +201,23 @@ AP_GPS_None g_gps_driver();
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AP_InertialSensor_MPU6000 ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_PX4
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AP_InertialSensor_PX4 ins;
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# elif CONFIG_HAL_BOARD != HAL_BOARD_AVR_SITL
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#elif CONFIG_INS_TYPE == CONFIG_INS_STUB
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AP_InertialSensor_Stub ins;
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#elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
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AP_InertialSensor_Oilpan ins( &adc );
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#else
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#error Unrecognised CONFIG_INS_TYPE setting.
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#endif // CONFIG_INS_TYPE
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AP_AHRS_DCM ahrs(&ins, g_gps);
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#elif HIL_MODE == HIL_MODE_SENSORS
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// sensor emulators
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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AP_GPS_HIL g_gps_driver;
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AP_InertialSensor_Stub ins;
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AP_AHRS_DCM ahrs(&ins, g_gps);
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#elif HIL_MODE == HIL_MODE_ATTITUDE
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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AP_GPS_HIL g_gps_driver;
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AP_InertialSensor_Stub ins;
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#if HIL_MODE == HIL_MODE_ATTITUDE
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AP_AHRS_HIL ahrs(&ins, g_gps);
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#else
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#error Unrecognised HIL_MODE setting.
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#endif // HIL MODE
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AP_AHRS_DCM ahrs(&ins, g_gps);
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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SITL sitl;
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#endif
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// Training mode
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static bool training_manual_roll; // user has manual roll control
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@ -101,6 +101,7 @@
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# define CONFIG_PITOT_SOURCE PITOT_SOURCE_ADC
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# define CONFIG_PITOT_SOURCE_ADC_CHANNEL 7
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# define CONFIG_BARO AP_BARO_BMP085
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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@ -126,6 +127,7 @@
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# define CONFIG_BARO AP_BARO_MS5611
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# define CONFIG_MS5611_SERIAL AP_BARO_MS5611_SPI
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# endif
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# define CONFIG_COMPASS AP_COMPASS_HMC5843
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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@ -139,6 +141,8 @@
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# define CONFIG_PITOT_SOURCE_ANALOG_PIN 0
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# define CONFIG_PITOT_SCALING 4.0
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# define MAGNETOMETER ENABLED
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# define CONFIG_BARO AP_BARO_HIL
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# define CONFIG_COMPASS AP_COMPASS_HIL
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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@ -154,6 +158,7 @@
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# define MAGNETOMETER ENABLED
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# define MAG_ORIENTATION ROTATION_NONE
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# define CONFIG_BARO AP_BARO_PX4
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# define CONFIG_COMPASS AP_COMPASS_PX4
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# define SERIAL0_BAUD 57600
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#endif
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@ -173,6 +178,10 @@
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# error "CONFIG_BARO not set"
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#endif
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#ifndef CONFIG_COMPASS
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# error "CONFIG_COMPASS not set"
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#endif
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#ifndef CONFIG_PITOT_SOURCE
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# error "CONFIG_PITOT_SOURCE not set"
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#endif
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@ -186,13 +195,19 @@
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#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
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#undef GPS_PROTOCOL
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# define GPS_PROTOCOL GPS_PROTOCOL_NONE
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#define GPS_PROTOCOL GPS_PROTOCOL_HIL
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#undef CONFIG_BARO
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#define CONFIG_BARO AP_BARO_HIL
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#undef CONFIG_INS_TYPE
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#define CONFIG_INS_TYPE CONFIG_INS_STUB
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#undef CONFIG_ADC
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#define CONFIG_ADC DISABLED
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#undef CONFIG_PITOT_SOURCE
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#define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
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#undef CONFIG_PITOT_SOURCE_ANALOG_PIN
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#define CONFIG_PITOT_SOURCE_ANALOG_PIN -1
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#undef CONFIG_PITOT_SCALING
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#define CONFIG_PITOT_SCALING 4.0
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#endif
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//////////////////////////////////////////////////////////////////////////////
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@ -224,13 +224,22 @@ enum log_messages {
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// mark a function as not to be inlined
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#define NOINLINE __attribute__((noinline))
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// InertialSensor driver types
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#define CONFIG_INS_OILPAN 1
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#define CONFIG_INS_MPU6000 2
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#define CONFIG_INS_STUB 3
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#define CONFIG_INS_PX4 4
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// barometer driver types
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#define AP_BARO_BMP085 1
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#define AP_BARO_MS5611 2
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#define AP_BARO_PX4 3
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#define AP_BARO_HIL 4
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// compass driver types
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#define AP_COMPASS_HMC5843 1
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#define AP_COMPASS_PX4 2
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#define AP_COMPASS_HIL 3
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// altitude control algorithms
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enum {
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