working

muramura · Apr 8, 2024 · a7c64e0 · a7c64e0
1 parent 68b671d
commit a7c64e0
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Showing 202 changed files with 1,006 additions and 1,182 deletions.
diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
@@ -247,7 +247,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
         #endif // HELI_FRAME
 
         // checks when using range finder for RTL
-#if MODE_RTL_ENABLED == ENABLED
+
         if (copter.mode_rtl.get_alt_type() == ModeRTL::RTLAltType::RTL_ALTTYPE_TERRAIN) {
             // get terrain source from wpnav
             const char *failure_template = "RTL_ALT_TYPE is above-terrain but %s";
@@ -272,7 +272,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
                 break;
             }
         }
-#endif
+
 
         // check adsb avoidance failsafe
 #if HAL_ADSB_ENABLED
@@ -734,9 +734,9 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
     copter.update_super_simple_bearing(false);
 
     // Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
-#if MODE_SMARTRTL_ENABLED == ENABLED
+
     copter.g2.smart_rtl.set_home(copter.position_ok());
-#endif
+
 
     hal.util->set_soft_armed(true);
 
@@ -814,14 +814,14 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
         }
     }
 
-#if AUTOTUNE_ENABLED == ENABLED
+
     // save auto tuned parameters
     if (copter.flightmode == &copter.mode_autotune) {
         copter.mode_autotune.save_tuning_gains();
     } else {
         copter.mode_autotune.reset();
     }
-#endif
+
 
     // we are not in the air
     copter.set_land_complete(true);
@@ -830,10 +830,10 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
     // send disarm command to motors
     copter.motors->armed(false);
 
-#if MODE_AUTO_ENABLED == ENABLED
+
     // reset the mission
     copter.mode_auto.mission.reset();
-#endif
+
 
 #if HAL_LOGGING_ENABLED
     AP::logger().set_vehicle_armed(false);

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -164,9 +164,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #endif
     SCHED_TASK(auto_disarm_check,     10,     50,  27),
     SCHED_TASK(auto_trim,             10,     75,  30),
-#if RANGEFINDER_ENABLED == ENABLED
+
     SCHED_TASK(read_rangefinder,      20,    100,  33),
-#endif
+
 #if HAL_PROXIMITY_ENABLED
     SCHED_TASK_CLASS(AP_Proximity,         &copter.g2.proximity,        update,         200,  50,  36),
 #endif
@@ -176,9 +176,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(update_altitude,       10,    100,  42),
     SCHED_TASK(run_nav_updates,       50,    100,  45),
     SCHED_TASK(update_throttle_hover,100,     90,  48),
-#if MODE_SMARTRTL_ENABLED == ENABLED
+
     SCHED_TASK_CLASS(ModeSmartRTL,         &copter.mode_smartrtl,       save_position,    3, 100,  51),
-#endif
+
 #if HAL_SPRAYER_ENABLED
     SCHED_TASK_CLASS(AC_Sprayer,           &copter.sprayer,               update,         3,  90,  54),
 #endif
@@ -274,7 +274,7 @@ void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
 constexpr int8_t Copter::_failsafe_priorities[7];
 
 
-#if MODE_GUIDED_ENABLED == ENABLED
+
 // start takeoff to given altitude (for use by scripting)
 bool Copter::start_takeoff(float alt)
 {
@@ -385,9 +385,9 @@ bool Copter::set_target_angle_and_climbrate(float roll_deg, float pitch_deg, flo
     mode_guided.set_angle(q, Vector3f{}, climb_rate_ms*100, false);
     return true;
 }
-#endif
 
-#if MODE_CIRCLE_ENABLED == ENABLED
+
+
 // circle mode controls
 bool Copter::get_circle_radius(float &radius_m)
 {
@@ -400,15 +400,15 @@ bool Copter::set_circle_rate(float rate_dps)
     circle_nav->set_rate(rate_dps);
     return true;
 }
-#endif
+
 
 // set desired speed (m/s). Used for scripting.
 bool Copter::set_desired_speed(float speed)
 {
     return flightmode->set_speed_xy(speed * 100.0f);
 }
 
-#if MODE_AUTO_ENABLED == ENABLED
+
 // returns true if mode supports NAV_SCRIPT_TIME mission commands
 bool Copter::nav_scripting_enable(uint8_t mode)
 {
@@ -434,7 +434,7 @@ void Copter::nav_script_time_done(uint16_t id)
 
     return mode_auto.nav_script_time_done(id);
 }
-#endif
+
 
 // returns true if the EKF failsafe has triggered.  Only used by Lua scripts
 bool Copter::has_ekf_failsafed() const
@@ -458,11 +458,11 @@ bool Copter::is_taking_off() const
 
 bool Copter::current_mode_requires_mission() const
 {
-#if MODE_AUTO_ENABLED == ENABLED
+
         return flightmode == &mode_auto;
-#else
-        return false;
-#endif
+
+
+
 }
 
 // rc_loops - reads user input from transmitter/receiver

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -114,15 +114,15 @@
  # include <AC_PrecLand/AC_PrecLand.h>
  # include <AC_PrecLand/AC_PrecLand_StateMachine.h>
 
-#if MODE_FOLLOW_ENABLED == ENABLED
+
  # include <AP_Follow/AP_Follow.h>
-#endif
+
 
  # include <AP_Terrain/AP_Terrain.h>
 
-#if RANGEFINDER_ENABLED == ENABLED
+
  # include <AP_RangeFinder/AP_RangeFinder.h>
-#endif
+
 
 #include <AP_Mount/AP_Mount.h>
 
@@ -490,9 +490,9 @@ class Copter : public AP_Vehicle {
     AC_CustomControl custom_control{ahrs_view, attitude_control, motors, scheduler.get_loop_period_s()};
 #endif
 
-#if MODE_CIRCLE_ENABLED == ENABLED
+
     AC_Circle *circle_nav;
-#endif
+
 
     // System Timers
     // --------------
@@ -528,9 +528,9 @@ class Copter : public AP_Vehicle {
 #endif
 
     // Parachute release
-#if PARACHUTE == ENABLED
+
     AP_Parachute parachute;
-#endif
+
 
     // Landing Gear Controller
 
@@ -667,7 +667,7 @@ class Copter : public AP_Vehicle {
                              uint8_t &task_count,
                              uint32_t &log_bit) override;
 
-#if MODE_GUIDED_ENABLED == ENABLED
+
     bool start_takeoff(float alt) override;
     bool set_target_location(const Location& target_loc) override;
     bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) override;
@@ -676,17 +676,17 @@ class Copter : public AP_Vehicle {
     bool set_target_velocity_NED(const Vector3f& vel_ned) override;
     bool set_target_velaccel_NED(const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool relative_yaw) override;
     bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) override;
-#endif
-#if MODE_CIRCLE_ENABLED == ENABLED
+
+
     bool get_circle_radius(float &radius_m) override;
     bool set_circle_rate(float rate_dps) override;
-#endif
+
     bool set_desired_speed(float speed) override;
-#if MODE_AUTO_ENABLED == ENABLED
+
     bool nav_scripting_enable(uint8_t mode) override;
     bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) override;
     void nav_script_time_done(uint16_t id) override;
-#endif
+
     // lua scripts use this to retrieve EKF failsafe state
     // returns true if the EKF failsafe has triggered
     bool has_ekf_failsafed() const override;
@@ -971,83 +971,83 @@ class Copter : public AP_Vehicle {
     void userhook_auxSwitch2(const RC_Channel::AuxSwitchPos ch_flag);
     void userhook_auxSwitch3(const RC_Channel::AuxSwitchPos ch_flag);
 
-#if MODE_ACRO_ENABLED == ENABLED
+
 #if FRAME_CONFIG == HELI_FRAME
     ModeAcro_Heli mode_acro;
 #else
     ModeAcro mode_acro;
 #endif
-#endif
+
     ModeAltHold mode_althold;
-#if MODE_AUTO_ENABLED == ENABLED
+
     ModeAuto mode_auto;
-#endif
-#if AUTOTUNE_ENABLED == ENABLED
+
+
     ModeAutoTune mode_autotune;
-#endif
-#if MODE_BRAKE_ENABLED == ENABLED
+
+
     ModeBrake mode_brake;
-#endif
-#if MODE_CIRCLE_ENABLED == ENABLED
+
+
     ModeCircle mode_circle;
-#endif
-#if MODE_DRIFT_ENABLED == ENABLED
+
+
     ModeDrift mode_drift;
-#endif
-#if MODE_FLIP_ENABLED == ENABLED
+
+
     ModeFlip mode_flip;
-#endif
-#if MODE_FOLLOW_ENABLED == ENABLED
+
+
     ModeFollow mode_follow;
-#endif
-#if MODE_GUIDED_ENABLED == ENABLED
+
+
     ModeGuided mode_guided;
-#endif
+
     ModeLand mode_land;
-#if MODE_LOITER_ENABLED == ENABLED
+
     ModeLoiter mode_loiter;
-#endif
-#if MODE_POSHOLD_ENABLED == ENABLED
+
+
     ModePosHold mode_poshold;
-#endif
-#if MODE_RTL_ENABLED == ENABLED
+
+
     ModeRTL mode_rtl;
-#endif
+
 #if FRAME_CONFIG == HELI_FRAME
     ModeStabilize_Heli mode_stabilize;
 #else
     ModeStabilize mode_stabilize;
 #endif
-#if MODE_SPORT_ENABLED == ENABLED
+
     ModeSport mode_sport;
-#endif
+
 #if MODE_SYSTEMID_ENABLED == ENABLED
     ModeSystemId mode_systemid;
 #endif
 #if HAL_ADSB_ENABLED
     ModeAvoidADSB mode_avoid_adsb;
 #endif
-#if MODE_THROW_ENABLED == ENABLED
+
     ModeThrow mode_throw;
-#endif
-#if MODE_GUIDED_NOGPS_ENABLED == ENABLED
+
+
     ModeGuidedNoGPS mode_guided_nogps;
-#endif
-#if MODE_SMARTRTL_ENABLED == ENABLED
+
+
     ModeSmartRTL mode_smartrtl;
-#endif
-#if MODE_FLOWHOLD_ENABLED == ENABLED
+
+
     ModeFlowHold mode_flowhold;
-#endif
-#if MODE_ZIGZAG_ENABLED == ENABLED
+
+
     ModeZigZag mode_zigzag;
-#endif
+
 #if MODE_AUTOROTATE_ENABLED == ENABLED
     ModeAutorotate mode_autorotate;
 #endif
-#if MODE_TURTLE_ENABLED == ENABLED
+
     ModeTurtle mode_turtle;
-#endif
+
 
     // mode.cpp
     Mode *mode_from_mode_num(const Mode::Number mode);

diff --git a/ArduCopter/GCS_Copter.cpp b/ArduCopter/GCS_Copter.cpp
@@ -91,7 +91,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
     }
 #endif
 
-#if RANGEFINDER_ENABLED == ENABLED
+
     const RangeFinder *rangefinder = RangeFinder::get_singleton();
     if (rangefinder && rangefinder->has_orientation(ROTATION_PITCH_270)) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
@@ -102,7 +102,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
             control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         }
     }
-#endif
+
 
 
     if (copter.precland.enabled()) {