working

muramura · Apr 13, 2024 · 42211de · 42211de
1 parent be6bbc3
commit 42211de
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Showing 9 changed files with 28 additions and 28 deletions.
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -1040,9 +1040,9 @@ class Plane : public AP_Vehicle {
 
     void one_second_loop(void);
     void three_hz_loop(void);
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+
     void airspeed_ratio_update(void);
-#endif
+
     void compass_save(void);
     void update_logging10(void);
     void update_logging25(void);

diff --git a/ArduPlane/RC_Channel.cpp b/ArduPlane/RC_Channel.cpp
@@ -186,9 +186,9 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
     case AUX_FUNC::AIRMODE:
     case AUX_FUNC::WEATHER_VANE_ENABLE:
 #endif
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+
     case AUX_FUNC::ARSPD_CALIBRATE:
-#endif
+
     case AUX_FUNC::TER_DISABLE:
     case AUX_FUNC::CROW_SELECT:
         run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
@@ -343,7 +343,7 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
 #endif
 
     case AUX_FUNC::ARSPD_CALIBRATE:
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+
         switch (ch_flag) {
         case AuxSwitchPos::HIGH:
             plane.airspeed.set_calibration_enabled(true);
@@ -354,7 +354,7 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
             plane.airspeed.set_calibration_enabled(false);
             break;
         }
-#endif
+
         break;
 
     case AUX_FUNC::LANDING_FLARE:

diff --git a/libraries/AP_HAL/Util.h b/libraries/AP_HAL/Util.h
@@ -212,10 +212,10 @@ class AP_HAL::Util {
     // log info on stack usage
     virtual void log_stack_info(void) {}
 
-#if AP_CRASHDUMP_ENABLED
+
     virtual size_t last_crash_dump_size() const { return 0; }
     virtual void* last_crash_dump_ptr() const { return nullptr; }
-#endif
+
 
 #if HAL_ENABLE_DFU_BOOT
     virtual void boot_to_dfu(void) {}

diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -468,7 +468,7 @@ void Scheduler::_monitor_thread(void *arg)
             try_force_mutex();
         }
 
-#if AP_CRASHDUMP_ENABLED
+
         if (loop_delay >= 1800 && using_watchdog) {
             // we are about to watchdog, better to trigger a hardfault
             // now and get a crash dump file
@@ -477,7 +477,7 @@ void Scheduler::_monitor_thread(void *arg)
             fptr gptr = (fptr) (void *)ptr;
             gptr();
         }
-#endif
+
 
 #if HAL_LOGGING_ENABLED
     if (log_wd_counter++ == 10 && hal.util->was_watchdog_reset()) {

diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -832,7 +832,7 @@ void Util::log_stack_info(void)
 #endif
 }
 
-#if AP_CRASHDUMP_ENABLED
+
 size_t Util::last_crash_dump_size() const
 {
     // get dump size
@@ -856,7 +856,7 @@ void* Util::last_crash_dump_ptr() const
     }
     return (void*)stm32_crash_dump_addr();
 }
-#endif // AP_CRASHDUMP_ENABLED
+
 
 #if HAL_ENABLE_DFU_BOOT && !defined(HAL_BOOTLOADER_BUILD)
 void Util::boot_to_dfu()

diff --git a/libraries/AP_HAL_ChibiOS/Util.h b/libraries/AP_HAL_ChibiOS/Util.h
@@ -159,11 +159,11 @@ class ChibiOS::Util : public AP_HAL::Util {
     // log info on stack usage
     void log_stack_info(void) override;
 
-#if AP_CRASHDUMP_ENABLED
+
     // get last crash dump
     size_t last_crash_dump_size() const override;
     void* last_crash_dump_ptr() const override;
-#endif
+
 
 #if HAL_ENABLE_DFU_BOOT
     void boot_to_dfu() override;

diff --git a/libraries/AP_HAL_ChibiOS/system.cpp b/libraries/AP_HAL_ChibiOS/system.cpp
@@ -23,9 +23,9 @@
 #include "hwdef/common/watchdog.h"
 #include "hwdef/common/stm32_util.h"
 #include <AP_Vehicle/AP_Vehicle_Type.h>
-#if AP_CRASHDUMP_ENABLED
+
 #include <CrashCatcher.h>
-#endif
+
 #include <ch.h>
 #include "hal.h"
 #include <hrt.h>

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
@@ -654,9 +654,9 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     case AUX_FUNC::SCRIPTING_6:
     case AUX_FUNC::SCRIPTING_7:
     case AUX_FUNC::SCRIPTING_8:
-#if AP_VIDEOTX_ENABLED
+
     case AUX_FUNC::VTX_POWER:
-#endif
+
     case AUX_FUNC::OPTFLOW_CAL:
     case AUX_FUNC::TURBINE_START:
     case AUX_FUNC::MOUNT1_ROLL:
@@ -722,7 +722,7 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     }
 }
 
-#if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
+
 
 const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
     { AUX_FUNC::SAVE_WP,"SaveWaypoint"},
@@ -804,7 +804,7 @@ const char *RC_Channel::string_for_aux_pos(AuxSwitchPos pos) const
     return "";
 }
 
-#endif // AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
+
 
 /*
   read an aux channel. Return true if a switch has changed
@@ -816,15 +816,15 @@ bool RC_Channel::read_aux()
         // may wish to add special cases for other "AUXSW" things
         // here e.g. RCMAP_ROLL etc once they become options
         return false;
-#if AP_VIDEOTX_ENABLED
+
     } else if (_option == AUX_FUNC::VTX_POWER) {
         int8_t position;
         if (read_6pos_switch(position)) {
             AP::vtx().change_power(position);
             return true;
         }
         return false;
-#endif  // AP_VIDEOTX_ENABLED
+
     }
 
     AuxSwitchPos new_position;
@@ -844,13 +844,13 @@ bool RC_Channel::read_aux()
         return false;
     }
 
-#if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
+
     // announce the change to the GCS:
     const char *aux_string = string_for_aux_function(_option);
     if (aux_string != nullptr) {
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "RC%i: %s %s", ch_in+1, aux_string, string_for_aux_pos(new_position));
     }
-#endif
+
 
     // debounced; undertake the action:
     run_aux_function(_option, new_position, AuxFuncTriggerSource::RC);

diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
@@ -309,10 +309,10 @@ class RC_Channel {
     // wrapper function around do_aux_function which allows us to log
     bool run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source);
 
-#if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
+
     const char *string_for_aux_function(AUX_FUNC function) const;
     const char *string_for_aux_pos(AuxSwitchPos pos) const;
-#endif
+
     // pwm value under which we consider that Radio value is invalid
     static const uint16_t RC_MIN_LIMIT_PWM = 800;
     // pwm value above which we consider that Radio value is invalid
@@ -422,15 +422,15 @@ class RC_Channel {
     // switch high!
     bool init_position_on_first_radio_read(AUX_FUNC func) const;
 
-#if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
+
     // Structure to lookup switch change announcements
     struct LookupTable{
        AUX_FUNC option;
        const char *announcement;
     };
 
     static const LookupTable lookuptable[];
-#endif
+
 };