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Sub: Obey RANGEFINDER_ENABLED and AC_TERRAIN build macros

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Dr.-Ing. Amilcar Do Carmo Lucas 2018-03-14 18:37:12 +01:00 committed by Francisco Ferreira
parent 89725a7aa5
commit f63388cb07
2 changed files with 8 additions and 0 deletions
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4
ArduSub/Parameters.cpp
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@ -85,6 +85,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
#if RANGEFINDER_ENABLED == ENABLED
// @Param: RNGFND_GAIN
// @DisplayName: Rangefinder gain
// @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the sub
@ -92,6 +93,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Increment: 0.01
// @User: Standard
GSCALAR(rangefinder_gain, "RNGFND_GAIN", RANGEFINDER_GAIN_DEFAULT),
#endif
// @Param: FS_BATT_ENABLE
// @DisplayName: Battery Failsafe Enable
@ -627,12 +629,14 @@ const AP_Param::Info Sub::var_info[] = {
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT(notify, "NTF_", AP_Notify),
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
// @Param: TERRAIN_FOLLOW
// @DisplayName: Terrain Following use control
// @Description: This enables terrain following for RTL and SURFACE flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must support sending terrain data to the aircraft. In RTL the RTL_ALT will be considered a height above the terrain. In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home). This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain.
// @Values: 0:Do Not Use in RTL and SURFACE,1:Use in RTL and SURFACE
// @User: Standard
GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0),
#endif
// @Group:
// @Path: Parameters.cpp

4
ArduSub/Parameters.h
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@ -224,7 +224,9 @@ public:
AP_Float throttle_filt;
#if RANGEFINDER_ENABLED == ENABLED
AP_Float rangefinder_gain;
#endif
AP_Int8 failsafe_battery_enabled; // battery failsafe enabled
AP_Float fs_batt_voltage; // battery voltage below which failsafe will be triggered
@ -266,7 +268,9 @@ public:
AP_Float fs_ekf_thresh;
AP_Int16 gcs_pid_mask;
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
AP_Int8 terrain_follow;
#endif
AP_Int16 rc_speed; // speed of fast RC Channels in Hz