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ArduPlane: add option to disable relay and servorelay libraries

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This commit is contained in:
Peter Barker 2023-06-06 18:05:07 +10:00 committed by Peter Barker
parent cd8a699675
commit 9d3ebf0d54
3 changed files with 6 additions and 0 deletions
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2
ArduPlane/ArduPlane.cpp
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@ -77,7 +77,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(ekf_check, 10, 75, 54), SCHED_TASK(ekf_check, 10, 75, 54),
SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, update_receive, 300, 500, 57), SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, update_receive, 300, 500, 57),
SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, update_send, 300, 750, 60), SCHED_TASK_CLASS(GCS, (GCS*)&plane._gcs, update_send, 300, 750, 60),
#if AP_SERVORELAYEVENTS_ENABLED
SCHED_TASK_CLASS(AP_ServoRelayEvents, &plane.ServoRelayEvents, update_events, 50, 150, 63), SCHED_TASK_CLASS(AP_ServoRelayEvents, &plane.ServoRelayEvents, update_events, 50, 150, 63),
#endif
SCHED_TASK_CLASS(AP_BattMonitor, &plane.battery, read, 10, 300, 66), SCHED_TASK_CLASS(AP_BattMonitor, &plane.battery, read, 10, 300, 66),
SCHED_TASK_CLASS(AP_Baro, &plane.barometer, accumulate, 50, 150, 69), SCHED_TASK_CLASS(AP_Baro, &plane.barometer, accumulate, 50, 150, 69),
SCHED_TASK(read_rangefinder, 50, 100, 78), SCHED_TASK(read_rangefinder, 50, 100, 78),

2
ArduPlane/Parameters.cpp
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@ -754,9 +754,11 @@ const AP_Param::Info Plane::var_info[] = {
// @Path: AP_Arming.cpp,../libraries/AP_Arming/AP_Arming.cpp // @Path: AP_Arming.cpp,../libraries/AP_Arming/AP_Arming.cpp
GOBJECT(arming, "ARMING_", AP_Arming_Plane), GOBJECT(arming, "ARMING_", AP_Arming_Plane),
#if AP_RELAY_ENABLED
// @Group: RELAY_ // @Group: RELAY_
// @Path: ../libraries/AP_Relay/AP_Relay.cpp // @Path: ../libraries/AP_Relay/AP_Relay.cpp
GOBJECT(relay, "RELAY_", AP_Relay), GOBJECT(relay, "RELAY_", AP_Relay),
#endif
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED
// @Group: CHUTE_ // @Group: CHUTE_

2
ArduPlane/system.cpp
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@ -42,7 +42,9 @@ void Plane::init_ardupilot()
#endif #endif
rc().init(); rc().init();
#if AP_RELAY_ENABLED
relay.init(); relay.init();
#endif
// initialise notify system // initialise notify system
notify.init(); notify.init();