Plane: make mount/gimbal inclusion configurable per-board

ArduPlane/ArduPlane.cpp

@@ -69,9 +69,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(check_long_failsafe,     3,    400),
     SCHED_TASK(rpm_update,             10,    100),
     SCHED_TASK(airspeed_ratio_update,   1,    100),
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     SCHED_TASK_CLASS(AP_Mount, &plane.camera_mount, update, 50, 100),
-#endif // MOUNT == ENABLED
+#endif // HAL_MOUNT_ENABLED
 #if CAMERA == ENABLED
     SCHED_TASK_CLASS(AP_Camera, &plane.camera, update,      50, 100),
 #endif // CAMERA == ENABLED

ArduPlane/Parameters.cpp

@@ -999,7 +999,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: ../libraries/AP_TECS/AP_TECS.cpp
     GOBJECT(TECS_controller,         "TECS_",   AP_TECS),
 
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     // @Group: MNT
     // @Path: ../libraries/AP_Mount/AP_Mount.cpp
     GOBJECT(camera_mount,           "MNT",  AP_Mount),

ArduPlane/Plane.h

@@ -756,7 +756,7 @@ private:
     uint32_t last_home_update_ms;
 
     // Camera/Antenna mount tracking and stabilisation stuff
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     AP_Mount camera_mount;
 #endif
 

ArduPlane/commands_logic.cpp

@@ -152,7 +152,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
         autotune_enable(cmd.p1);
         break;
 
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     // Sets the region of interest (ROI) for a sensor set or the
     // vehicle itself. This can then be used by the vehicles control
     // system to control the vehicle attitude and the attitude of various

ArduPlane/config.h

@@ -131,13 +131,6 @@
  # define CAMERA         ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// MOUNT (ANTENNA OR CAMERA)
-//
-#ifndef MOUNT
-#define MOUNT          ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // FLIGHT AND NAVIGATION CONTROL

ArduPlane/system.cpp

@@ -108,7 +108,7 @@ void Plane::init_ardupilot()
 
     init_rc_in();               // sets up rc channels from radio
 
-#if MOUNT == ENABLED
+#if HAL_MOUNT_ENABLED
     // initialise camera mount
     camera_mount.init();
 #endif