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AP_OADatabase: available regardless of hal-minimize-features

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In Copter with minimize feature set the entire AP_PathPlanning feature including the database are unavailable
Rover has enough space for the database even with minimise features set
This commit is contained in:
Randy Mackay 2019-12-11 08:24:03 +09:00
parent 50b4dd2599
commit 985a15709a
5 changed files with 0 additions and 26 deletions
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2
libraries/AC_Avoidance/AP_OABendyRuler.cpp
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@ -355,7 +355,6 @@ bool AP_OABendyRuler::calc_margin_from_inclusion_and_exclusion_circles(const Loc
// on success returns true and updates margin // on success returns true and updates margin
bool AP_OABendyRuler::calc_margin_from_object_database(const Location &start, const Location &end, float &margin) bool AP_OABendyRuler::calc_margin_from_object_database(const Location &start, const Location &end, float &margin)
{ {
#if !HAL_MINIMIZE_FEATURES
// exit immediately if db is empty // exit immediately if db is empty
AP_OADatabase *oaDb = AP::oadatabase(); AP_OADatabase *oaDb = AP::oadatabase();
if (oaDb == nullptr || !oaDb->healthy()) { if (oaDb == nullptr || !oaDb->healthy()) {
@ -386,6 +385,5 @@ bool AP_OABendyRuler::calc_margin_from_object_database(const Location &start, co
return true; return true;
} }
#endif
return false; return false;
} }

3
libraries/AC_Avoidance/AP_OADatabase.cpp
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@ -13,8 +13,6 @@
#include "AP_OADatabase.h" #include "AP_OADatabase.h"
#if !HAL_MINIMIZE_FEATURES
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
@ -439,7 +437,6 @@ void AP_OADatabase::send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_
// singleton instance // singleton instance
AP_OADatabase *AP_OADatabase::_singleton; AP_OADatabase *AP_OADatabase::_singleton;
#endif //!HAL_MINIMIZE_FEATURES
namespace AP { namespace AP {
AP_OADatabase *oadatabase() AP_OADatabase *oadatabase()

12
libraries/AC_Avoidance/AP_OADatabase.h
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@ -3,8 +3,6 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#if !HAL_MINIMIZE_FEATURES
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
class AP_OADatabase { class AP_OADatabase {
@ -111,16 +109,6 @@ private:
static AP_OADatabase *_singleton; static AP_OADatabase *_singleton;
}; };
#else
class AP_OADatabase {
public:
static AP_OADatabase *get_singleton() { return nullptr; }
void init() {};
void queue_push(const Vector2f &pos, uint32_t timestamp_ms, float distance) {};
bool healthy() const { return false; }
void send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_ms) {};
};
#endif // #if !HAL_MINIMIZE_FEATURES
namespace AP { namespace AP {
AP_OADatabase *oadatabase(); AP_OADatabase *oadatabase();

7
libraries/AC_Avoidance/AP_OAPathPlanner.cpp
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@ -57,11 +57,9 @@ const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("MARGIN_MAX", 3, AP_OAPathPlanner, _margin_max, OA_MARGIN_MAX_DEFAULT), AP_GROUPINFO("MARGIN_MAX", 3, AP_OAPathPlanner, _margin_max, OA_MARGIN_MAX_DEFAULT),
#if !HAL_MINIMIZE_FEATURES
// @Group: DB_ // @Group: DB_
// @Path: AP_OADatabase.cpp // @Path: AP_OADatabase.cpp
AP_SUBGROUPINFO(_oadatabase, "DB_", 4, AP_OAPathPlanner, AP_OADatabase), AP_SUBGROUPINFO(_oadatabase, "DB_", 4, AP_OAPathPlanner, AP_OADatabase),
#endif
AP_GROUPEND AP_GROUPEND
}; };
@ -195,7 +193,6 @@ AP_OAPathPlanner::OA_RetState AP_OAPathPlanner::mission_avoidance(const Location
void AP_OAPathPlanner::avoidance_thread() void AP_OAPathPlanner::avoidance_thread()
{ {
while (true) { while (true) {
#if !HAL_MINIMIZE_FEATURES
// if database queue needs attention, service it faster // if database queue needs attention, service it faster
if (_oadatabase.process_queue()) { if (_oadatabase.process_queue()) {
@ -211,10 +208,6 @@ void AP_OAPathPlanner::avoidance_thread()
avoidance_latest_ms = now; avoidance_latest_ms = now;
_oadatabase.update(); _oadatabase.update();
#else
hal.scheduler->delay(100);
const uint32_t now = AP_HAL::millis();
#endif
Location origin_new; Location origin_new;
Location destination_new; Location destination_new;

2
libraries/AC_Avoidance/AP_OAPathPlanner.h
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@ -91,9 +91,7 @@ private:
AP_OABendyRuler *_oabendyruler; // Bendy Ruler algorithm AP_OABendyRuler *_oabendyruler; // Bendy Ruler algorithm
AP_OADijkstra *_oadijkstra; // Dijkstra's algorithm AP_OADijkstra *_oadijkstra; // Dijkstra's algorithm
AP_OADatabase _oadatabase; // Database of dynamic objects to avoid AP_OADatabase _oadatabase; // Database of dynamic objects to avoid
#if !HAL_MINIMIZE_FEATURES
uint32_t avoidance_latest_ms; // last time Dijkstra's or BendyRuler algorithms ran uint32_t avoidance_latest_ms; // last time Dijkstra's or BendyRuler algorithms ran
#endif
static AP_OAPathPlanner *_singleton; static AP_OAPathPlanner *_singleton;
}; };