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ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled

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This commit is contained in:
rmackay9 2012-12-13 16:07:34 +09:00 committed by Andrew Tridgell
parent d8e3d5c10c
commit 6da68c53a5
5 changed files with 6 additions and 8 deletions
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2
ArduCopter/ArduCopter.pde
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@ -873,7 +873,7 @@ AP_Mount camera_mount2(&current_loc, g_gps, &ahrs, 1);
////////////////////////////////////////////////////////////////////////////////
// Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
////////////////////////////////////////////////////////////////////////////////
#ifdef AP_LIMITS
#if AP_LIMITS == ENABLED
AP_Limits limits;
AP_Limit_GPSLock gpslock_limit(g_gps);
AP_Limit_Geofence geofence_limit(FENCE_START_BYTE, FENCE_WP_SIZE, MAX_FENCEPOINTS, g_gps, &home, &current_loc);

2
ArduCopter/GCS_Mavlink.pde
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@ -1929,7 +1929,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
#ifdef AP_LIMITS
#if AP_LIMITS == ENABLED
// receive an AP_Limits fence point from GCS and store in EEPROM
// receive a fence point from GCS and store in EEPROM

2
ArduCopter/Parameters.pde
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@ -583,12 +583,14 @@ const AP_Param::Info var_info[] PROGMEM = {
GOBJECT(barometer, "GND_", AP_Baro),
#if AP_LIMITS == ENABLED
//@Group: LIM_
//@Path: ../libraries/AP_Limits/AP_Limits.cpp,../libraries/AP_Limits/AP_Limit_GPSLock.cpp, ../libraries/AP_Limits/AP_Limit_Geofence.cpp, ../libraries/AP_Limits/AP_Limit_Altitude.cpp, ../libraries/AP_Limits/AP_Limit_Module.cpp
GOBJECT(limits, "LIM_", AP_Limits),
GOBJECT(gpslock_limit, "LIM_", AP_Limit_GPSLock),
GOBJECT(geofence_limit, "LIM_", AP_Limit_Geofence),
GOBJECT(altitude_limit, "LIM_", AP_Limit_Altitude),
#endif
#if FRAME_CONFIG == HELI_FRAME
// @Group: H_

2
ArduCopter/motors.pde
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@ -43,7 +43,7 @@ static void arm_motors()
////////////////////////////////////////////////////////////////////////////////
// Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
////////////////////////////////////////////////////////////////////////////////
#ifdef AP_LIMITS
#if AP_LIMITS == ENABLED
if (limits.enabled() && limits.required()) {
gcs_send_text_P(SEVERITY_LOW, PSTR("Limits - Running pre-arm checks"));

6
ArduCopter/system.pde
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@ -294,11 +294,7 @@ init_rate_controllers();
// Experimental AP_Limits library - set constraints, limits, fences, minima,
// maxima on various parameters
////////////////////////////////////////////////////////////////////////////////
static void init_ap_limits() {
#ifdef AP_LIMITS
// AP_Limits modules are stored as a _linked list_. That allows us to
// define an infinite number of modules and also to allocate no space until
// we actually need to.
#if AP_LIMITS == ENABLED
// The linked list looks (logically) like this [limits module] -> [first
// limit module] -> [second limit module] -> [third limit module] -> NULL