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muramura · Apr 10, 2024 · 961b47d · 961b47d
1 parent f06381e
commit 961b47d
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Showing 27 changed files with 80 additions and 111 deletions.
diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
@@ -1629,7 +1629,7 @@ bool AP_Arming::pre_arm_checks(bool report)
 
 
         &  opendroneid_checks(report)
-#endif
+
 #if AP_ARMING_CRASHDUMP_ACK_ENABLED
         & crashdump_checks(report)
 #endif

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
@@ -613,12 +613,12 @@ void AP_Baro::init(void)
     }
 #endif
 
-#if AP_BARO_EXTERNALAHRS_ENABLED
+
     const int8_t serial_port = AP::externalAHRS().get_port(AP_ExternalAHRS::AvailableSensor::BARO);
     if (serial_port >= 0) {
         ADD_BACKEND(new AP_Baro_ExternalAHRS(*this, serial_port));
     }
-#endif
+
 
 // macro for use by HAL_INS_PROBE_LIST
 #define GET_I2C_DEVICE(bus, address) _have_i2c_driver(bus, address)?nullptr:hal.i2c_mgr->get_device(bus, address)
@@ -1100,7 +1100,7 @@ void AP_Baro::handle_msp(const MSP::msp_baro_data_message_t &pkt)
 }
 #endif
 
-#if AP_BARO_EXTERNALAHRS_ENABLED
+
 /*
   handle ExternalAHRS barometer data
  */
@@ -1110,7 +1110,7 @@ void AP_Baro::handle_external(const AP_ExternalAHRS::baro_data_message_t &pkt)
         drivers[i]->handle_external(pkt);
     }
 }
-#endif  // AP_BARO_EXTERNALAHRS_ENABLED
+
 
 // returns false if we fail arming checks, in which case the buffer will be populated with a failure message
 bool AP_Baro::arming_checks(size_t buflen, char *buffer) const

diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
@@ -195,9 +195,9 @@ class AP_Baro
 #if AP_BARO_MSP_ENABLED
     void handle_msp(const MSP::msp_baro_data_message_t &pkt);
 #endif
-#if AP_BARO_EXTERNALAHRS_ENABLED
+
     void handle_external(const AP_ExternalAHRS::baro_data_message_t &pkt);
-#endif
+
 
     enum Options : uint16_t {
         TreatMS5611AsMS5607     = (1U << 0U),

diff --git a/libraries/AP_Baro/AP_Baro_Backend.h b/libraries/AP_Baro/AP_Baro_Backend.h
@@ -28,9 +28,9 @@ class AP_Baro_Backend
     virtual void handle_msp(const MSP::msp_baro_data_message_t &pkt) {}
 #endif
 
-#if AP_BARO_EXTERNALAHRS_ENABLED
+
     virtual void handle_external(const AP_ExternalAHRS::baro_data_message_t &pkt) {}
-#endif
+
 
     /*
       device driver IDs. These are used to fill in the devtype field

diff --git a/libraries/AP_Baro/AP_Baro_ExternalAHRS.cpp b/libraries/AP_Baro/AP_Baro_ExternalAHRS.cpp
@@ -1,6 +1,6 @@
 #include "AP_Baro_ExternalAHRS.h"
 
-#if AP_BARO_EXTERNALAHRS_ENABLED
+
 
 AP_Baro_ExternalAHRS::AP_Baro_ExternalAHRS(AP_Baro &baro, uint8_t port) :
     AP_Baro_Backend(baro)
@@ -31,5 +31,3 @@ void AP_Baro_ExternalAHRS::handle_external(const AP_ExternalAHRS::baro_data_mess
     sum_temp += pkt.temperature;
     count++;
 }
-
-#endif // AP_BARO_EXTERNALAHRS_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_ExternalAHRS.h b/libraries/AP_Baro/AP_Baro_ExternalAHRS.h
@@ -5,7 +5,7 @@
 
 #include "AP_Baro_Backend.h"
 
-#if AP_BARO_EXTERNALAHRS_ENABLED
+
 
 class AP_Baro_ExternalAHRS : public AP_Baro_Backend
 {
@@ -20,5 +20,3 @@ class AP_Baro_ExternalAHRS : public AP_Baro_Backend
     float sum_temp;
     uint16_t count;
 };
-
-#endif // AP_BARO_EXTERNALAHRS_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
@@ -39,9 +39,9 @@
 #if AP_COMPASS_MSP_ENABLED
 #include "AP_Compass_MSP.h"
 #endif
-#if AP_COMPASS_EXTERNALAHRS_ENABLED
+
 #include "AP_Compass_ExternalAHRS.h"
-#endif
+
 #include "AP_Compass.h"
 #include "Compass_learn.h"
 #include <stdio.h>
@@ -1117,7 +1117,7 @@ void Compass::_probe_external_i2c_compasses(void)
 #endif  // !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
 
 
-#if AP_COMPASS_QMC5883L_ENABLED
+
     //external i2c bus
     FOREACH_I2C_EXTERNAL(i) {
         ADD_BACKEND(DRIVER_QMC5883L, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
@@ -1135,9 +1135,9 @@ void Compass::_probe_external_i2c_compasses(void)
         }
     }
 #endif
-#endif  // AP_COMPASS_QMC5883L_ENABLED
 
-#if AP_COMPASS_QMC5883P_ENABLED
+
+
     //external i2c bus
     FOREACH_I2C_EXTERNAL(i) {
         ADD_BACKEND(DRIVER_QMC5883P, AP_Compass_QMC5883P::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883P_I2C_ADDR),
@@ -1155,7 +1155,7 @@ void Compass::_probe_external_i2c_compasses(void)
         }
     }
 #endif
-#endif  // AP_COMPASS_QMC5883P_ENABLED
+
 
 #ifndef HAL_BUILD_AP_PERIPH
     // AK09916 on ICM20948
@@ -1250,7 +1250,7 @@ void Compass::_probe_external_i2c_compasses(void)
     }
 
 
-#if AP_COMPASS_IST8308_ENABLED
+
     // external i2c bus
     FOREACH_I2C_EXTERNAL(i) {
         ADD_BACKEND(DRIVER_IST8308, AP_Compass_IST8308::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8308_I2C_ADDR),
@@ -1262,7 +1262,7 @@ void Compass::_probe_external_i2c_compasses(void)
                     all_external, ROTATION_NONE));
     }
 #endif
-#endif  // AP_COMPASS_IST8308_ENABLED
+
 
 
     // external i2c bus
@@ -1278,7 +1278,7 @@ void Compass::_probe_external_i2c_compasses(void)
 #endif
 
 
-#if AP_COMPASS_RM3100_ENABLED
+
 #ifdef HAL_COMPASS_RM3100_I2C_ADDR
     const uint8_t rm3100_addresses[] = { HAL_COMPASS_RM3100_I2C_ADDR };
 #else
@@ -1302,7 +1302,7 @@ void Compass::_probe_external_i2c_compasses(void)
         }
     }
 #endif
-#endif  // AP_COMPASS_RM3100_ENABLED
+
 
 #if AP_COMPASS_BMM150_DETECT_BACKENDS_ENABLED
     // BMM150 on I2C
@@ -1320,12 +1320,12 @@ void Compass::_probe_external_i2c_compasses(void)
  */
 void Compass::_detect_backends(void)
 {
-#if AP_COMPASS_EXTERNALAHRS_ENABLED
+
     const int8_t serial_port = AP::externalAHRS().get_port(AP_ExternalAHRS::AvailableSensor::COMPASS);
     if (serial_port >= 0) {
         ADD_BACKEND(DRIVER_EXTERNALAHRS, new AP_Compass_ExternalAHRS(serial_port));
     }
-#endif
+
 
 #if AP_FEATURE_BOARD_DETECT
     if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
@@ -2206,7 +2206,7 @@ void Compass::handle_msp(const MSP::msp_compass_data_message_t &pkt)
 }
 #endif // AP_COMPASS_MSP_ENABLED
 
-#if AP_COMPASS_EXTERNALAHRS_ENABLED
+
 void Compass::handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt)
 {
     if (!_driver_enabled(DRIVER_EXTERNALAHRS)) {
@@ -2216,7 +2216,7 @@ void Compass::handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt)
         _backends[i]->handle_external(pkt);
     }
 }
-#endif // AP_COMPASS_EXTERNALAHRS_ENABLED
+
 
 // force save of current calibration as valid
 void Compass::force_save_calibration(void)

diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
@@ -355,9 +355,9 @@ friend class AP_Compass_Backend;
     void handle_msp(const MSP::msp_compass_data_message_t &pkt);
 #endif
 
-#if AP_COMPASS_EXTERNALAHRS_ENABLED
+
     void handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt);
-#endif
+
 
     // force save of current calibration as valid
     void force_save_calibration(void);
@@ -461,33 +461,33 @@ friend class AP_Compass_Backend;
 #if AP_COMPASS_DRONECAN_ENABLED
         DRIVER_UAVCAN   =11,
 #endif
-#if AP_COMPASS_QMC5883L_ENABLED
+
         DRIVER_QMC5883L =12,
-#endif
+
 #if AP_COMPASS_SITL_ENABLED
         DRIVER_SITL     =13,
 #endif
-#if AP_COMPASS_MAG3110_ENABLED
+
         DRIVER_MAG3110  =14,
-#endif
-#if AP_COMPASS_IST8308_ENABLED
+
+
         DRIVER_IST8308  =15,
-#endif
-#if AP_COMPASS_RM3100_ENABLED
+
+
 		DRIVER_RM3100   =16,
-#endif
+
 #if AP_COMPASS_MSP_ENABLED
         DRIVER_MSP      =17,
 #endif
-#if AP_COMPASS_EXTERNALAHRS_ENABLED
+
         DRIVER_EXTERNALAHRS   =18,
-#endif
-#if AP_COMPASS_MMC5XX3_ENABLED
+
+
         DRIVER_MMC5XX3  =19,
-#endif
-#if AP_COMPASS_QMC5883P_ENABLED
+
+
         DRIVER_QMC5883P =20,
-#endif
+
 };
 
     bool _driver_enabled(enum DriverType driver_type);

diff --git a/libraries/AP_Compass/AP_Compass_Backend.h b/libraries/AP_Compass/AP_Compass_Backend.h
@@ -21,9 +21,9 @@
 
 #include "AP_Compass_config.h"
 
-#if AP_COMPASS_EXTERNALAHRS_ENABLED
+
 #include <AP_ExternalAHRS/AP_ExternalAHRS.h>
-#endif
+
 
 #if AP_COMPASS_MSP_ENABLED
 #include <AP_MSP/msp.h>
@@ -80,9 +80,9 @@ class AP_Compass_Backend
     virtual void handle_msp(const MSP::msp_compass_data_message_t &pkt) {}
 #endif
 
-#if AP_COMPASS_EXTERNALAHRS_ENABLED
+
     virtual void handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt) {}
-#endif
+
 
 protected:
 

diff --git a/libraries/AP_Compass/AP_Compass_ExternalAHRS.cpp b/libraries/AP_Compass/AP_Compass_ExternalAHRS.cpp
@@ -16,7 +16,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Compass_ExternalAHRS.h"
 
-#if AP_COMPASS_EXTERNALAHRS_ENABLED
+
 
 AP_Compass_ExternalAHRS::AP_Compass_ExternalAHRS(uint8_t port)
 {
@@ -37,5 +37,3 @@ void AP_Compass_ExternalAHRS::read(void)
 {
     drain_accumulated_samples(instance);
 }
-
-#endif // AP_COMPASS_EXTERNALAHRS_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_ExternalAHRS.h b/libraries/AP_Compass/AP_Compass_ExternalAHRS.h
@@ -2,7 +2,7 @@
 
 #include "AP_Compass_config.h"
 
-#if AP_COMPASS_EXTERNALAHRS_ENABLED
+
 
 #include "AP_Compass.h"
 #include "AP_Compass_Backend.h"
@@ -19,5 +19,3 @@ class AP_Compass_ExternalAHRS : public AP_Compass_Backend
     void handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt) override;
     uint8_t instance;
 };
-
-#endif  // AP_COMPASS_EXTERNALAHRS_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_IST8308.cpp b/libraries/AP_Compass/AP_Compass_IST8308.cpp
@@ -16,7 +16,7 @@
  */
 #include "AP_Compass_IST8308.h"
 
-#if AP_COMPASS_IST8308_ENABLED
+
 
 #include <stdio.h>
 #include <utility>
@@ -226,5 +226,3 @@ void AP_Compass_IST8308::read()
 {
     drain_accumulated_samples(_instance);
 }
-
-#endif  // AP_COMPASS_IST8308_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_IST8308.h b/libraries/AP_Compass/AP_Compass_IST8308.h
@@ -18,7 +18,7 @@
 
 #include "AP_Compass_config.h"
 
-#if AP_COMPASS_IST8308_ENABLED
+
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
@@ -55,5 +55,3 @@ class AP_Compass_IST8308 : public AP_Compass_Backend
     uint8_t _instance;
     bool _force_external;
 };
-
-#endif  // AP_COMPASS_IST8308_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_MAG3110.cpp b/libraries/AP_Compass/AP_Compass_MAG3110.cpp
@@ -14,7 +14,7 @@
  */
 #include "AP_Compass_MAG3110.h"
 
-#if AP_COMPASS_MAG3110_ENABLED
+
 
 #include <utility>
 
@@ -221,5 +221,3 @@ void AP_Compass_MAG3110::read()
 
     drain_accumulated_samples(_compass_instance);
 }
-
-#endif  // AP_COMPASS_MAG3110_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_MAG3110.h b/libraries/AP_Compass/AP_Compass_MAG3110.h
@@ -2,7 +2,7 @@
 
 #include "AP_Compass_config.h"
 
-#if AP_COMPASS_MAG3110_ENABLED
+
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
@@ -48,5 +48,3 @@ class AP_Compass_MAG3110 : public AP_Compass_Backend
     uint8_t _compass_instance;
     bool _initialised;
 };
-
-#endif  // AP_COMPASS_MAG3110_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_MMC5xx3.cpp b/libraries/AP_Compass/AP_Compass_MMC5xx3.cpp
@@ -15,7 +15,7 @@
 
 #include "AP_Compass_MMC5xx3.h"
 
-#if AP_COMPASS_MMC5XX3_ENABLED
+
 
 #include <AP_HAL/AP_HAL.h>
 #include <stdio.h>
@@ -308,6 +308,3 @@ void AP_Compass_MMC5XX3::read()
 {
     drain_accumulated_samples(compass_instance);
 }
-
-#endif  // AP_COMPASS_MMC5XX3_ENABLED
-
-Original file line number
+Diff line change
@@ Expand Up / @@ -1629,7 +1629,7 @@ bool AP_Arming::pre_arm_checks(bool report) @@
             &  opendroneid_checks(report)
-    #endif
     #if AP_ARMING_CRASHDUMP_ACK_ENABLED
             & crashdump_checks(report)
     #endif
@@ Expand Down @@