Copter: fix options to disable MOUNT/ADSB

ArduCopter/APM_Config.h

@@ -5,7 +5,7 @@
 
 // uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
 //#define LOGGING_ENABLED       DISABLED            // disable logging to save 11K of flash space
-//#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space
+//#define MOUNT_ENABLED         DISABLED            // disable the camera gimbal to save 8K of flash space
 //#define AUTOTUNE_ENABLED      DISABLED            // disable the auto tune functionality to save 7k of flash
 //#define AC_FENCE              DISABLED            // disable fence to save 2k of flash
 //#define CAMERA                DISABLED            // disable camera trigger to save 1k of flash

ArduCopter/AP_Arming.cpp

@@ -276,7 +276,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
 #endif
 
         // check adsb avoidance failsafe
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
         if (copter.failsafe.adsb) {
             check_failed(ARMING_CHECK_PARAMETERS, display_failure, "ADSB threat detected");
             return false;
@@ -690,7 +690,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
     }
 
     // check adsb
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
     if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
         if (copter.failsafe.adsb) {
             check_failed(ARMING_CHECK_PARAMETERS, true, "ADSB threat detected");

ArduCopter/Copter.cpp

@@ -146,7 +146,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(lost_vehicle_check,    10,     50),
     SCHED_TASK_CLASS(GCS,                  (GCS*)&copter._gcs,          update_receive, 400, 180),
     SCHED_TASK_CLASS(GCS,                  (GCS*)&copter._gcs,          update_send,    400, 550),
-#if HAL_MOUNT_ENABLED
+#if MOUNT_ENABLED
     SCHED_TASK_CLASS(AP_Mount,             &copter.camera_mount,        update,          50,  75),
 #endif
 #if CAMERA == ENABLED
@@ -166,7 +166,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(compass_cal_update,   100,    100),
     SCHED_TASK(accel_cal_update,      10,    100),
     SCHED_TASK_CLASS(AP_TempCalibration,   &copter.g2.temp_calibration, update,          10, 100),
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
     SCHED_TASK(avoidance_adsb_update, 10,    100),
 #endif
 #if ADVANCED_FAILSAFE == ENABLED
@@ -254,7 +254,7 @@ void Copter::fast_loop()
     // check if we've landed or crashed
     update_land_and_crash_detectors();
 
-#if HAL_MOUNT_ENABLED
+#if MOUNT_ENABLED
     // camera mount's fast update
     camera_mount.update_fast();
 #endif
@@ -507,7 +507,7 @@ void Copter::one_hz_loop()
     // log terrain data
     terrain_logging();
 
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
     adsb.set_is_flying(!ap.land_complete);
 #endif
 

ArduCopter/Copter.h

@@ -167,7 +167,7 @@
 #include "UserParameters.h"
 #endif
 #include "Parameters.h"
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
 #include "avoidance_adsb.h"
 #endif
 
@@ -485,7 +485,7 @@ class Copter : public AP_Vehicle {
 #endif
 
     // Camera/Antenna mount tracking and stabilisation stuff
-#if HAL_MOUNT_ENABLED
+#if MOUNT_ENABLED
     AP_Mount camera_mount;
 #endif
 
@@ -532,7 +532,7 @@ class Copter : public AP_Vehicle {
     AC_InputManager_Heli input_manager;
 #endif
 
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
     AP_ADSB adsb;
 
     // avoidance of adsb enabled vehicles (normally manned vehicles)
@@ -664,7 +664,7 @@ class Copter : public AP_Vehicle {
     void rotate_body_frame_to_NE(float &x, float &y);
     uint16_t get_pilot_speed_dn() const;
 
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
     // avoidance_adsb.cpp
     void avoidance_adsb_update(void);
 #endif
@@ -945,7 +945,7 @@ class Copter : public AP_Vehicle {
 #if MODE_SYSTEMID_ENABLED == ENABLED
     ModeSystemId mode_systemid;
 #endif
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
     ModeAvoidADSB mode_avoid_adsb;
 #endif
 #if MODE_THROW_ENABLED == ENABLED

ArduCopter/GCS_Mavlink.cpp

@@ -297,7 +297,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
         break;
 
     case MSG_ADSB_VEHICLE: {
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
         CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
         copter.adsb.send_adsb_vehicle(chan);
 #endif
@@ -520,7 +520,7 @@ void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &
 void GCS_MAVLINK_Copter::packetReceived(const mavlink_status_t &status,
                                         const mavlink_message_t &msg)
 {
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
     if (copter.g2.dev_options.get() & DevOptionADSBMAVLink) {
         // optional handling of GLOBAL_POSITION_INT as a MAVLink based avoidance source
         copter.avoidance_adsb.handle_msg(msg);
@@ -676,7 +676,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_long_t
 {
     // if the mount doesn't do pan control then yaw the entire vehicle instead:
     switch (packet.command) {
-#if HAL_MOUNT_ENABLED
+#if MOUNT_ENABLED
     case MAV_CMD_DO_MOUNT_CONTROL:
         if (!copter.camera_mount.has_pan_control()) {
             copter.flightmode->auto_yaw.set_fixed_yaw(
@@ -942,7 +942,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
 void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
-#if HAL_MOUNT_ENABLED
+#if MOUNT_ENABLED
     case MAVLINK_MSG_ID_MOUNT_CONTROL:
         if (!copter.camera_mount.has_pan_control()) {
             // if the mount doesn't do pan control then yaw the entire vehicle instead:
@@ -1317,7 +1317,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
     case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG:
     case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
     case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
         copter.adsb.handle_message(chan, msg);
 #endif
         break;

ArduCopter/Parameters.cpp

@@ -588,7 +588,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
     GOBJECT(ahrs,                   "AHRS_",    AP_AHRS),
 
-#if HAL_MOUNT_ENABLED
+#if MOUNT_ENABLED
     // @Group: MNT
     // @Path: ../libraries/AP_Mount/AP_Mount.cpp
     GOBJECT(camera_mount,           "MNT",  AP_Mount),
@@ -719,7 +719,7 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(rpm_sensor, "RPM", AP_RPM),
 #endif
 
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
     // @Group: ADSB_
     // @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
     GOBJECT(adsb,                "ADSB_", AP_ADSB),

ArduCopter/autoyaw.cpp

@@ -140,14 +140,14 @@ void Mode::AutoYaw::set_roi(const Location &roi_location)
     if (roi_location.alt == 0 && roi_location.lat == 0 && roi_location.lng == 0) {
         // set auto yaw mode back to default assuming the active command is a waypoint command.  A more sophisticated method is required to ensure we return to the proper yaw control for the active command
         auto_yaw.set_mode_to_default(false);
-#if HAL_MOUNT_ENABLED
+#if MOUNT_ENABLED
         // switch off the camera tracking if enabled
         if (copter.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
             copter.camera_mount.set_mode_to_default();
         }
-#endif  // HAL_MOUNT_ENABLED
+#endif  // MOUNT_ENABLED
     } else {
-#if HAL_MOUNT_ENABLED
+#if MOUNT_ENABLED
         // check if mount type requires us to rotate the quad
         if (!copter.camera_mount.has_pan_control()) {
             if (roi_location.get_vector_from_origin_NEU(roi)) {
@@ -168,7 +168,7 @@ void Mode::AutoYaw::set_roi(const Location &roi_location)
         if (roi_location.get_vector_from_origin_NEU(roi)) {
             auto_yaw.set_mode(AUTO_YAW_ROI);
         }
-#endif  // HAL_MOUNT_ENABLED
+#endif  // MOUNT_ENABLED
     }
 }
 

ArduCopter/avoidance_adsb.cpp

@@ -1,7 +1,7 @@
 #include "Copter.h"
 #include <AP_Notify/AP_Notify.h>
 
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
 void Copter::avoidance_adsb_update(void)
 {
     adsb.update();

ArduCopter/config.h

@@ -377,6 +377,18 @@
  # define BUTTON_ENABLED ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Mount - camera gimbal
+#ifndef MOUNT_ENABLED
+ # define MOUNT_ENABLED  HAL_MOUNT_ENABLED
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+// ADSB support
+#ifndef ADSB_ENABLED
+ # define ADSB_ENABLED  HAL_ADSB_ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION
 //////////////////////////////////////////////////////////////////////////////
@@ -714,7 +726,7 @@
   #error SmartRTL requires ModeRTL which is disabled
 #endif
 
-#if HAL_ADSB_ENABLED && !MODE_GUIDED_ENABLED
+#if ADSB_ENABLED && !MODE_GUIDED_ENABLED
   #error ADSB requires ModeGuided which is disabled
 #endif
 

ArduCopter/mode.cpp

@@ -121,7 +121,7 @@ Mode *Copter::mode_from_mode_num(const Mode::Number mode)
             break;
 #endif
 
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
         case Mode::Number::AVOID_ADSB:
             ret = &mode_avoid_adsb;
             break;
@@ -280,7 +280,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
     logger.Write_Mode((uint8_t)control_mode, reason);
     gcs().send_message(MSG_HEARTBEAT);
 
-#if HAL_ADSB_ENABLED
+#if ADSB_ENABLED
     adsb.set_is_auto_mode((mode == Mode::Number::AUTO) || (mode == Mode::Number::RTL) || (mode == Mode::Number::GUIDED));
 #endif
 
@@ -339,9 +339,9 @@ void Copter::exit_mode(Mode *&old_flightmode,
         if (mode_auto.mission.state() == AP_Mission::MISSION_RUNNING) {
             mode_auto.mission.stop();
         }
-#if HAL_MOUNT_ENABLED
+#if MOUNT_ENABLED
         camera_mount.set_mode_to_default();
-#endif  // HAL_MOUNT_ENABLED
+#endif  // MOUNT_ENABLED
     }
 #endif
 

ArduCopter/mode_auto.cpp

@@ -1446,7 +1446,7 @@ void ModeAuto::do_roi(const AP_Mission::Mission_Command& cmd)
 // point the camera to a specified angle
 void ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd)
 {
-#if HAL_MOUNT_ENABLED
+#if MOUNT_ENABLED
     if (!copter.camera_mount.has_pan_control()) {
         auto_yaw.set_fixed_yaw(cmd.content.mount_control.yaw,0.0f,0,0);
     }

ArduCopter/system.cpp

@@ -128,7 +128,7 @@ void Copter::init_ardupilot()
     // init the optical flow sensor
     init_optflow();
 
-#if HAL_MOUNT_ENABLED
+#if MOUNT_ENABLED
     // initialise camera mount
     camera_mount.init();
 #endif