working

muramura · Apr 13, 2024 · be6bbc3 · be6bbc3
1 parent 728e63b
commit be6bbc3
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Showing 76 changed files with 311 additions and 324 deletions.
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
@@ -629,9 +629,9 @@
 #define AC_CUSTOMCONTROL_MULTI_ENABLED FRAME_CONFIG == MULTICOPTER_FRAME && AP_CUSTOMCONTROL_ENABLED
 #endif
 
-#ifndef AC_PAYLOAD_PLACE_ENABLED
-#define AC_PAYLOAD_PLACE_ENABLED 1
-#endif
+
+
+
 
 #ifndef USER_PARAMS_ENABLED
   #define USER_PARAMS_ENABLED DISABLED

diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
@@ -25,9 +25,9 @@ Mode::Mode(void) :
     G_Dt(copter.G_Dt)
 { };
 
-#if AC_PAYLOAD_PLACE_ENABLED
+
 PayloadPlace Mode::payload_place;
-#endif
+
 
 // return the static controller object corresponding to supplied mode
 Mode *Copter::mode_from_mode_num(const Mode::Number mode)

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -29,7 +29,7 @@ class _AutoTakeoff {
     Vector3p complete_pos;  // target takeoff position as offset from ekf origin in cm
 };
 
-#if AC_PAYLOAD_PLACE_ENABLED
+
 class PayloadPlace {
 public:
     void run();
@@ -60,7 +60,7 @@ class PayloadPlace {
     float descent_start_altitude_cm;
     float descent_speed_cms;
 };
-#endif
+
 
 class Mode {
     friend class PayloadPlace;
@@ -208,10 +208,10 @@ class Mode {
         land_run_vertical_control(pause_descent);
     }
 
-#if AC_PAYLOAD_PLACE_ENABLED
+
     // payload place flight behaviour:
     static PayloadPlace payload_place;
-#endif
+
 
     // run normal or precision landing (if enabled)
     // pause_descent is true if vehicle should not descend
@@ -510,9 +510,9 @@ class ModeAuto : public Mode {
         NAVGUIDED,
         LOITER,
         LOITER_TO_ALT,
-#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
+
         NAV_PAYLOAD_PLACE,
-#endif
+
         NAV_SCRIPT_TIME,
         NAV_ATTITUDE_TIME,
     };

diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
@@ -152,11 +152,11 @@ void ModeAuto::run()
         loiter_to_alt_run();
         break;
 
-#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
+
     case SubMode::NAV_PAYLOAD_PLACE:
         payload_place.run();
         break;
-#endif
+
 
     case SubMode::NAV_ATTITUDE_TIME:
         nav_attitude_time_run();
@@ -557,7 +557,7 @@ bool ModeAuto::is_taking_off() const
     return ((_mode == SubMode::TAKEOFF) && !auto_takeoff.complete);
 }
 
-#if AC_PAYLOAD_PLACE_ENABLED
+
 // auto_payload_place_start - initialises controller to implement a placing
 void PayloadPlace::start_descent()
 {
@@ -587,7 +587,7 @@ void PayloadPlace::start_descent()
 
     state = PayloadPlace::State::Descent_Start;
 }
-#endif
+
 
 // returns true if pilot's yaw input should be used to adjust vehicle's heading
 bool ModeAuto::use_pilot_yaw(void) const
@@ -682,11 +682,11 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         do_nav_delay(cmd);
         break;
 
-#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
+
     case MAV_CMD_NAV_PAYLOAD_PLACE:              // 94 place at Waypoint
         do_payload_place(cmd);
         break;
-#endif
+
 
 
     case MAV_CMD_NAV_SCRIPT_TIME:
@@ -892,11 +892,11 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
         cmd_complete = verify_land();
         break;
 
-#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
+
     case MAV_CMD_NAV_PAYLOAD_PLACE:
         cmd_complete = payload_place.verify();
         break;
-#endif
+
 
     case MAV_CMD_NAV_LOITER_UNLIM:
         cmd_complete = verify_loiter_unlimited();
@@ -1187,7 +1187,7 @@ void ModeAuto::nav_attitude_time_run()
     pos_control->update_z_controller();
 }
 
-#if AC_PAYLOAD_PLACE_ENABLED
+
 // auto_payload_place_run - places an object in auto mode
 //      called by auto_run at 100hz or more
 void PayloadPlace::run()
@@ -1413,7 +1413,7 @@ void PayloadPlace::run()
         break;
     }
 }
-#endif
+
 
 // sets the target_loc's alt to the vehicle's current alt but does not change target_loc's frame
 // in the case of terrain altitudes either the terrain database or the rangefinder may be used
@@ -1535,9 +1535,9 @@ bool ModeAuto::set_next_wp(const AP_Mission::Mission_Command& current_cmd, const
     switch (next_cmd.id) {
     case MAV_CMD_NAV_WAYPOINT:
     case MAV_CMD_NAV_LOITER_UNLIM:
-#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
+
     case MAV_CMD_NAV_PAYLOAD_PLACE:
-#endif
+
     case MAV_CMD_NAV_LOITER_TIME: {
         const Location dest_loc = loc_from_cmd(current_cmd, default_loc);
         const Location next_dest_loc = loc_from_cmd(next_cmd, dest_loc);
@@ -1944,7 +1944,7 @@ void ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd)
 }
 
 
-#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
+
 // do_payload_place - initiate placing procedure
 void ModeAuto::do_payload_place(const AP_Mission::Mission_Command& cmd)
 {
@@ -1976,7 +1976,7 @@ void ModeAuto::do_payload_place(const AP_Mission::Mission_Command& cmd)
     // set submode
     set_submode(SubMode::NAV_PAYLOAD_PLACE);
 }
-#endif  // AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
+
 
 // do_RTL - start Return-to-Launch
 void ModeAuto::do_RTL(void)
@@ -2046,7 +2046,7 @@ bool ModeAuto::verify_land()
     return retval;
 }
 
-#if AC_PAYLOAD_PLACE_ENABLED
+
 // verify_payload_place - returns true if placing has been completed
 bool PayloadPlace::verify()
 {
@@ -2066,7 +2066,7 @@ bool PayloadPlace::verify()
     // should never get here
     return true;
 }
-#endif
+
 
 bool ModeAuto::verify_loiter_unlimited()
 {

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -95,9 +95,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 
     SCHED_TASK_CLASS(AP_RPM,           &plane.rpm_sensor,     update,     10, 100,  99),
 
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+
     SCHED_TASK(airspeed_ratio_update,   1,    100,  102),
-#endif // AP_AIRSPEED_AUTOCAL_ENABLE
+
 #if HAL_MOUNT_ENABLED
     SCHED_TASK_CLASS(AP_Mount, &plane.camera_mount, update, 50, 100, 105),
 #endif // HAL_MOUNT_ENABLED
@@ -396,7 +396,7 @@ void Plane::compass_save()
     }
 }
 
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+
 /*
   once a second update the airspeed calibration ratio
  */
@@ -425,7 +425,7 @@ void Plane::airspeed_ratio_update(void)
     const Vector3f &vg = gps.velocity();
     airspeed.update_calibration(vg, aparm.airspeed_max);
 }
-#endif // AP_AIRSPEED_AUTOCAL_ENABLE
+
 
 /*
   read the GPS and update position

diff --git a/Tools/AP_Bootloader/AP_Bootloader.cpp b/Tools/AP_Bootloader/AP_Bootloader.cpp
@@ -126,7 +126,7 @@ int main(void)
         try_boot = false;
         timeout = 0;
     }
-#if AP_CHECK_FIRMWARE_ENABLED
+
     const auto ok = check_good_firmware();
     if (ok != check_fw_result_t::CHECK_FW_OK) {
         // bad firmware CRC, don't try and boot
@@ -146,7 +146,7 @@ int main(void)
         network.status_printf("Firmware Error: %d\n", (int)ok);
     }
 #endif
-#endif  // AP_CHECK_FIRMWARE_ENABLED
+
 #ifndef BOOTLOADER_DEV_LIST
     else if (timeout == HAL_BOOTLOADER_TIMEOUT) {
         // fast boot for good firmware if we haven't been told to stay

diff --git a/Tools/AP_Bootloader/bl_protocol.cpp b/Tools/AP_Bootloader/bl_protocol.cpp
@@ -249,14 +249,14 @@ jump_to_app()
 {
     const uint32_t *app_base = (const uint32_t *)(APP_START_ADDRESS);
 
-#if AP_CHECK_FIRMWARE_ENABLED
+
     const auto ok = check_good_firmware();
     if (ok != check_fw_result_t::CHECK_FW_OK) {
         // bad firmware, don't try and boot
         led_set(LED_BAD_FW);
         return;
     }
-#endif
+
 
     // If we have QSPI chip start it
 #if EXT_FLASH_SIZE_MB

diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -261,9 +261,9 @@ void AP_Airspeed::convert_per_instance()
         { {138, 842}, AP_PARAM_FLOAT, "OFFSET" },    // ARSPD_OFFSET, ARSPD2_OFFSET
         { {202, 906}, AP_PARAM_FLOAT, "RATIO" },     // ARSPD_RATIO, ARSPD2_RATIO
         { {266, 970}, AP_PARAM_INT8, "PIN" },        // ARSPD_PIN, ARSPD2_PIN
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+
         { {330, 1034}, AP_PARAM_INT8, "AUTOCAL" },    // ARSPD_AUTOCAL, ARSPD2_AUTOCAL
-#endif
+
         { {394, 1098}, AP_PARAM_INT8, "TUBE_ORDR" },  // ARSPD_TUBE_ORDER, ARSPD2_TUBE_ORDR
         { {458, 1162}, AP_PARAM_INT8, "SKIP_CAL" },   // ARSPD_SKIP_CAL, ARSPD2_SKIP_CAL
         { {522, 1226}, AP_PARAM_FLOAT, "PSI_RANGE" }, // ARSPD_PSI_RANGE, ARSPD2_PSI_RANGE
@@ -282,9 +282,9 @@ void AP_Airspeed::convert_per_instance()
         const char* name;
     }  conversion_table[] = {
         { {0, 11}, AP_PARAM_INT8, "TYPE" },      // ARSPD_TYPE, ARSPD2_TYPE
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+
         { {5, 16}, AP_PARAM_INT8, "AUTOCAL" },    // ARSPD_AUTOCAL, ARSPD2_AUTOCAL
-#endif
+
         { {8, 19}, AP_PARAM_FLOAT, "PSI_RANGE" }, // ARSPD_PSI_RANGE, ARSPD2_PSI_RANGE
         { {24, 25}, AP_PARAM_INT32, "DEVID" },    // ARSPD_DEVID, ARSPD2_DEVID
     };
@@ -342,10 +342,10 @@ void AP_Airspeed::allocate()
 #else
     // look for sensors based on type parameters
     for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+
         state[i].calibration.init(param[i].ratio);
         state[i].last_saved_ratio = param[i].ratio;
-#endif
+
 
         // Set the enable automatically to false and set the probability that the airspeed is healhy to start with
         state[i].failures.health_probability = 1.0f;
@@ -425,11 +425,11 @@ void AP_Airspeed::allocate()
 #endif
             break;
         case TYPE_NMEA_WATER:
-#if AP_AIRSPEED_NMEA_ENABLED
+
 #if APM_BUILD_TYPE(APM_BUILD_Rover) || APM_BUILD_TYPE(APM_BUILD_ArduSub) 
             sensor[i] = new AP_Airspeed_NMEA(*this, i);
 #endif
-#endif
+
             break;
         case TYPE_MSP:
 #if AP_AIRSPEED_MSP_ENABLED

diff --git a/libraries/AP_Airspeed/AP_Airspeed.h b/libraries/AP_Airspeed/AP_Airspeed.h
@@ -36,9 +36,9 @@ class AP_Airspeed_Params {
 #endif
     AP_Int8  type;
     AP_Int8  bus;
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+
     AP_Int8  autocal;
-#endif
+
 
     static const struct AP_Param::GroupInfo var_info[];
 };
@@ -83,10 +83,10 @@ class AP_Airspeed
     // indicate which bit in LOG_BITMASK indicates we should log airspeed readings
     void set_log_bit(uint32_t log_bit) { _log_bit = log_bit; }
 
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+
     // inflight ratio calibration
     void set_calibration_enabled(bool enable) {calibration_enabled = enable;}
-#endif //AP_AIRSPEED_AUTOCAL_ENABLE
+
 
     // read the analog source and update airspeed
     void update(void);
@@ -261,11 +261,11 @@ class AP_Airspeed
             uint16_t read_count;
         } cal;
 
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+
         Airspeed_Calibration calibration;
         float last_saved_ratio;
         uint8_t counter;
-#endif // AP_AIRSPEED_AUTOCAL_ENABLE
+
 
         struct {
             uint32_t last_check_ms;

diff --git a/libraries/AP_Airspeed/AP_Airspeed_NMEA.cpp b/libraries/AP_Airspeed/AP_Airspeed_NMEA.cpp
@@ -20,7 +20,7 @@
 
 #include "AP_Airspeed_NMEA.h"
 
-#if AP_AIRSPEED_NMEA_ENABLED
+
 
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #if APM_BUILD_TYPE(APM_BUILD_Rover) || APM_BUILD_TYPE(APM_BUILD_ArduSub) 
@@ -219,4 +219,4 @@ bool AP_Airspeed_NMEA::decode_latest_term()
 
 #endif  // APM_BUILD_TYPE(APM_BUILD_Rover) || APM_BUILD_TYPE(APM_BUILD_ArduSub) 
 
-#endif  // AP_AIRSPEED_NMEA_ENABLED
+
diff --git a/libraries/AP_Airspeed/AP_Airspeed_NMEA.h b/libraries/AP_Airspeed/AP_Airspeed_NMEA.h
@@ -2,7 +2,7 @@
 
 #include "AP_Airspeed_config.h"
 
-#if AP_AIRSPEED_NMEA_ENABLED
+
 
 #include "AP_Airspeed_Backend.h"
 #include <AP_HAL/AP_HAL.h>
@@ -70,4 +70,4 @@ class AP_Airspeed_NMEA : public AP_Airspeed_Backend
     uint32_t _last_update_ms;
 };
 
-#endif  // AP_AIRSPEED_NMEA_ENABLED
+
diff --git a/libraries/AP_Airspeed/AP_Airspeed_Params.cpp b/libraries/AP_Airspeed/AP_Airspeed_Params.cpp
@@ -80,14 +80,14 @@ const AP_Param::GroupInfo AP_Airspeed_Params::var_info[] = {
     AP_GROUPINFO("PIN", 5, AP_Airspeed_Params, pin, 0),
 #endif // HAL_BUILD_AP_PERIPH
 
-#if AP_AIRSPEED_AUTOCAL_ENABLE
+
     // @Param: AUTOCAL
     // @DisplayName: Automatic airspeed ratio calibration
     // @DisplayName{Copter, Blimp, Rover, Sub}: This parameter and function is not used by this vehicle. Always set to 0.
     // @Description: Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.
     // @User: Advanced
     AP_GROUPINFO("AUTOCAL", 6, AP_Airspeed_Params, autocal, 0),
-#endif
+
 
 #ifndef HAL_BUILD_AP_PERIPH
     // @Param: TUBE_ORDR