Copter/Sub/Rover/Plane: HAL_PROXIMITY_ENABLED to disable AP_Proximity

ArduCopter/APM_Config.h

@@ -10,7 +10,6 @@
 //#define AC_FENCE              DISABLED            // disable fence to save 2k of flash
 //#define CAMERA                DISABLED            // disable camera trigger to save 1k of flash
 //#define RANGEFINDER_ENABLED   DISABLED            // disable rangefinder to save 1k of flash
-//#define PROXIMITY_ENABLED     DISABLED            // disable proximity sensors
 //#define AC_RALLY              DISABLED            // disable rally points library (must also disable terrain which relies on rally)
 //#define AC_AVOID_ENABLED      DISABLED            // disable stop-at-fence library
 //#define AC_OAPATHPLANNER_ENABLED DISABLED         // disable path planning around obstacles
@@ -19,7 +18,6 @@
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define OPTFLOW               DISABLED            // disable optical flow sensor to save 5K of flash space
 //#define FRSKY_TELEM_ENABLED   DISABLED            // disable FRSky telemetry
-//#define ADSB_ENABLED          DISABLED            // disable ADSB support
 //#define PRECISION_LANDING     DISABLED            // disable precision landing using companion computer or IRLock sensor
 //#define BEACON_ENABLED        DISABLED            // disable beacon support
 //#define SPRAYER_ENABLED       DISABLED            // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)

ArduCopter/AP_Arming.cpp

@@ -477,7 +477,7 @@ bool AP_Arming_Copter::pre_arm_ekf_attitude_check()
 // check nothing is too close to vehicle
 bool AP_Arming_Copter::proximity_checks(bool display_failure) const
 {
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
 
     if (!AP_Arming::proximity_checks(display_failure)) {
         return false;

ArduCopter/Copter.cpp

@@ -107,7 +107,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if RANGEFINDER_ENABLED == ENABLED
     SCHED_TASK(read_rangefinder,      20,    100),
 #endif
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
     SCHED_TASK_CLASS(AP_Proximity,         &copter.g2.proximity,        update,         200,  50),
 #endif
 #if BEACON_ENABLED == ENABLED
@@ -427,7 +427,7 @@ void Copter::ten_hz_logging_loop()
     }
     if (should_log(MASK_LOG_CTUN)) {
         attitude_control->control_monitor_log();
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
         logger.Write_Proximity(g2.proximity);  // Write proximity sensor distances
 #endif
 #if BEACON_ENABLED == ENABLED

ArduCopter/Copter.h

@@ -67,6 +67,7 @@
 #include <AP_Parachute/AP_Parachute.h>
 #include <AC_Sprayer/AC_Sprayer.h>
 #include <AP_ADSB/AP_ADSB.h>
+#include <AP_Proximity/AP_Proximity.h>
 
 // Configuration
 #include "defines.h"
@@ -129,9 +130,6 @@
 #if RANGEFINDER_ENABLED == ENABLED
  # include <AP_RangeFinder/AP_RangeFinder.h>
 #endif
-#if PROXIMITY_ENABLED == ENABLED
- # include <AP_Proximity/AP_Proximity.h>
-#endif
 
 #include <AP_Mount/AP_Mount.h>
 

ArduCopter/GCS_Copter.cpp

@@ -61,7 +61,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
     }
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
     if (copter.g2.proximity.sensor_present()) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
     }
@@ -106,7 +106,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
         break;
     }
 
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
     if (copter.g2.proximity.sensor_enabled()) {
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
     }
@@ -126,7 +126,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
     }
 #endif
 
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
     if (!copter.g2.proximity.sensor_failed()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_PROXIMITY;
     }

ArduCopter/Parameters.cpp

@@ -821,7 +821,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(beacon, "BCN", 14, ParametersG2, AP_Beacon),
 #endif
 
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
     // @Group: PRX
     // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
     AP_SUBGROUPINFO(proximity, "PRX", 8, ParametersG2, AP_Proximity),
@@ -1065,7 +1065,7 @@ ParametersG2::ParametersG2(void)
 #if BEACON_ENABLED == ENABLED
     , beacon(copter.serial_manager)
 #endif
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
     , proximity()
 #endif
 #if ADVANCED_FAILSAFE == ENABLED

ArduCopter/Parameters.h

@@ -2,6 +2,7 @@
 
 #include <AP_Common/AP_Common.h>
 #include "RC_Channel.h"
+#include <AP_Proximity/AP_Proximity.h>
 
 #if GRIPPER_ENABLED == ENABLED
  # include <AP_Gripper/AP_Gripper.h>
@@ -520,7 +521,7 @@ class ParametersG2 {
     AP_Beacon beacon;
 #endif
 
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
     // proximity (aka object avoidance) library
     AP_Proximity proximity;
 #endif

ArduCopter/config.h

@@ -116,13 +116,6 @@
  # define RANGEFINDER_GLITCH_NUM_SAMPLES  3   // number of rangefinder glitches in a row to take new reading
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Proximity sensor
-//
-#ifndef PROXIMITY_ENABLED
- # define PROXIMITY_ENABLED ENABLED
-#endif
-
 #ifndef MAV_SYSTEM_ID
  # define MAV_SYSTEM_ID          1
 #endif
@@ -685,9 +678,6 @@
  #define AC_OAPATHPLANNER_ENABLED   !HAL_MINIMIZE_FEATURES
 #endif
 
-#if AC_AVOID_ENABLED && !PROXIMITY_ENABLED
-  #error AC_Avoidance relies on PROXIMITY_ENABLED which is disabled
-#endif
 #if AC_AVOID_ENABLED && !AC_FENCE
   #error AC_Avoidance relies on AC_FENCE which is disabled
 #endif

ArduCopter/sensors.cpp

@@ -97,7 +97,7 @@ void Copter::read_rangefinder(void)
 #if MODE_CIRCLE_ENABLED
                 circle_nav->set_rangefinder_alt(rangefinder_state.enabled && wp_nav->rangefinder_used(), rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());
 #endif
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
                 g2.proximity.set_rangefinder_alt(rangefinder_state.enabled, rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());
 #endif
             }
@@ -224,7 +224,7 @@ void Copter::accel_cal_update()
 // initialise proximity sensor
 void Copter::init_proximity(void)
 {
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
     g2.proximity.init();
 #endif
 }

ArduSub/Parameters.cpp

@@ -630,7 +630,7 @@ const AP_Param::Info Sub::var_info[] = {
  */
 const AP_Param::GroupInfo ParametersG2::var_info[] = {
 
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
     // @Group: PRX
     // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
     AP_SUBGROUPINFO(proximity, "PRX", 2, ParametersG2, AP_Proximity),

ArduSub/Parameters.h

@@ -324,7 +324,7 @@ class ParametersG2 {
     AP_Gripper gripper;
 #endif
 
-#if PROXIMITY_ENABLED == ENABLED
+#if HAL_PROXIMITY_ENABLED
     // proximity (aka object avoidance) library
     AP_Proximity proximity;
 #endif

ArduSub/Sub.h

@@ -66,6 +66,7 @@
 #include <AP_JSButton/AP_JSButton.h>   // Joystick/gamepad button function assignment
 #include <AP_LeakDetector/AP_LeakDetector.h> // Leak detector
 #include <AP_TemperatureSensor/TSYS01.h>
+#include <AP_Proximity/AP_Proximity.h>
 
 // Local modules
 #include "defines.h"
@@ -93,10 +94,6 @@
 #include <AP_Gripper/AP_Gripper.h>             // gripper stuff
 #endif
 
-#if PROXIMITY_ENABLED == ENABLED
-#include <AP_Proximity/AP_Proximity.h>
-#endif
-
 #if AVOIDANCE_ENABLED == ENABLED
 #include <AC_Avoidance/AC_Avoid.h>           // Stop at fence library
 #endif

ArduSub/config.h

@@ -88,17 +88,10 @@
 # define AVOIDANCE_ENABLED DISABLED
 #endif
 
-#if AVOIDANCE_ENABLED == ENABLED // Avoidance Library relies on Proximity and Fence
-# define PROXIMITY_ENABLED ENABLED
+#if AVOIDANCE_ENABLED == ENABLED // Avoidance Library relies on Fence
 # define FENCE_ENABLED ENABLED
 #endif
 
-// Proximity sensor
-//
-#ifndef PROXIMITY_ENABLED
-# define PROXIMITY_ENABLED DISABLED
-#endif
-
 #ifndef MAV_SYSTEM_ID
 # define MAV_SYSTEM_ID          1
 #endif

Rover/GCS_Rover.cpp

@@ -28,11 +28,13 @@ bool GCS_Rover::supersimple_input_active() const
 void GCS_Rover::update_vehicle_sensor_status_flags(void)
 {
     // first what sensors/controllers we have
+#if HAL_PROXIMITY_ENABLED
     const AP_Proximity *proximity = AP_Proximity::get_singleton();
     if (proximity && proximity->get_status() > AP_Proximity::Status::NotConnected) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
     }
+#endif
 
     control_sensors_present |=
         MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
@@ -62,7 +64,10 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
             control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         }
     }
+
+#if HAL_PROXIMITY_ENABLED
     if (proximity && proximity->get_status() != AP_Proximity::Status::NoData) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
     }
+#endif
 }

Rover/Parameters.cpp

@@ -496,9 +496,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AC_Fence/AC_Fence.cpp
     AP_SUBGROUPINFO(fence, "FENCE_", 17, ParametersG2, AC_Fence),
 
+#if HAL_PROXIMITY_ENABLED
     // @Group: PRX
     // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
     AP_SUBGROUPINFO(proximity, "PRX", 18, ParametersG2, AP_Proximity),
+#endif
 
     // @Group: AVOID_
     // @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
@@ -701,7 +703,9 @@ ParametersG2::ParametersG2(void)
     wheel_rate_control(wheel_encoder),
     attitude_control(rover.ahrs),
     smart_rtl(),
+#if HAL_PROXIMITY_ENABLED
     proximity(),
+#endif
     avoid(),
     follow(),
     windvane(),

Rover/Parameters.h

@@ -329,8 +329,10 @@ class ParametersG2 {
     // fence library
     AC_Fence fence;
 
+#if HAL_PROXIMITY_ENABLED
     // proximity library
     AP_Proximity proximity;
+#endif
 
     // avoidance library
     AC_Avoid avoid;

Rover/Rover.cpp

@@ -56,7 +56,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_GPS,              &rover.gps,              update,         50,  300),
     SCHED_TASK_CLASS(AP_Baro,             &rover.barometer,        update,         10,  200),
     SCHED_TASK_CLASS(AP_Beacon,           &rover.g2.beacon,        update,         50,  200),
+#if HAL_PROXIMITY_ENABLED
     SCHED_TASK_CLASS(AP_Proximity,        &rover.g2.proximity,     update,         50,  200),
+#endif
     SCHED_TASK_CLASS(AP_WindVane,         &rover.g2.windvane,      update,         20,  100),
     SCHED_TASK_CLASS(AC_Fence,            &rover.g2.fence,         update,         10,  100),
     SCHED_TASK(update_wheel_encoder,   50,    200),
@@ -300,9 +302,11 @@ void Rover::update_logging1(void)
         Log_Write_Nav_Tuning();
     }
 
+#if HAL_PROXIMITY_ENABLED
     if (should_log(MASK_LOG_RANGEFINDER)) {
         logger.Write_Proximity(g2.proximity);
     }
+#endif
 }
 
 /*

Rover/system.cpp

@@ -67,8 +67,10 @@ void Rover::init_ardupilot()
     // initialise rangefinder
     rangefinder.init(ROTATION_NONE);
 
+#if HAL_PROXIMITY_ENABLED
     // init proximity sensor
     g2.proximity.init();
+#endif
 
     // init beacons used for non-gps position estimation
     g2.beacon.init();

libraries/AC_Avoidance/AC_Avoid.cpp

@@ -361,6 +361,7 @@ void AC_Avoid::adjust_velocity_z(float kP, float accel_cmss, float& climb_rate_c
         }
     }
 
+#if HAL_PROXIMITY_ENABLED
     // get distance from proximity sensor
     float proximity_alt_diff;
     AP_Proximity *proximity = AP::proximity();
@@ -371,6 +372,7 @@ void AC_Avoid::adjust_velocity_z(float kP, float accel_cmss, float& climb_rate_c
             limit_alt = true;
         }
     }
+#endif
 
     // limit climb rate
     if (limit_alt) {
@@ -1084,6 +1086,7 @@ void AC_Avoid::adjust_velocity_beacon_fence(float kP, float accel_cmss, Vector2f
  */
 void AC_Avoid::adjust_velocity_proximity(float kP, float accel_cmss, Vector3f &desired_vel_cms, Vector3f &backup_vel, float kP_z, float accel_cmss_z, float dt)
 {
+#if HAL_PROXIMITY_ENABLED
     // exit immediately if proximity sensor is not present
     AP_Proximity *proximity = AP::proximity();
     if (!proximity) {
@@ -1211,6 +1214,7 @@ void AC_Avoid::adjust_velocity_proximity(float kP, float accel_cmss, Vector3f &d
     desired_vel_cms = Vector3f{safe_vel_2d.x, safe_vel_2d.y, safe_vel.z};
     const Vector2f backup_vel_xy = _ahrs.body_to_earth2D(desired_back_vel_cms_xy);
     backup_vel = Vector3f{backup_vel_xy.x, backup_vel_xy.y, desired_back_vel_cms_z};
+#endif // HAL_PROXIMITY_ENABLED
 }
 
 /*
@@ -1371,6 +1375,7 @@ float AC_Avoid::distance_to_lean_pct(float dist_m)
 // returns the maximum positive and negative roll and pitch percentages (in -1 ~ +1 range) based on the proximity sensor
 void AC_Avoid::get_proximity_roll_pitch_pct(float &roll_positive, float &roll_negative, float &pitch_positive, float &pitch_negative)
 {
+#if HAL_PROXIMITY_ENABLED
     AP_Proximity *proximity = AP::proximity();
     if (proximity == nullptr) {
         return;
@@ -1414,6 +1419,7 @@ void AC_Avoid::get_proximity_roll_pitch_pct(float &roll_positive, float &roll_ne
             }
         }
     }
+#endif // HAL_PROXIMITY_ENABLED
 }
 
 // singleton instance

libraries/AP_Arming/AP_Arming.cpp

@@ -843,6 +843,7 @@ bool AP_Arming::system_checks(bool report)
 // check nothing is too close to vehicle
 bool AP_Arming::proximity_checks(bool report) const
 {
+#if HAL_PROXIMITY_ENABLED
     const AP_Proximity *proximity = AP::proximity();
     // return true immediately if no sensor present
     if (proximity == nullptr) {
@@ -857,6 +858,7 @@ bool AP_Arming::proximity_checks(bool report) const
         check_failed(report, "check proximity sensor");
         return false;
     }
+#endif
 
     return true;
 }

libraries/AP_Logger/AP_Logger.h

@@ -330,7 +330,9 @@ class AP_Logger
                           uint8_t sequence,
                           const RallyLocation &rally_point);
     void Write_Beacon(AP_Beacon &beacon);
+#if HAL_PROXIMITY_ENABLED
     void Write_Proximity(AP_Proximity &proximity);
+#endif
     void Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& point);
     void Write_OABendyRuler(uint8_t type, bool active, float target_yaw, float target_pitch, bool ignore_chg, float margin, const Location &final_dest, const Location &oa_dest);
     void Write_OADijkstra(uint8_t state, uint8_t error_id, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest);