ArduPlane: add and use AP_CAMERA_ENABLED

tridge · Sep 21, 2022 · dabf78c · dabf78c
1 parent fd28991
commit dabf78c
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Showing 5 changed files with 4 additions and 11 deletions.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -97,7 +97,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if HAL_MOUNT_ENABLED
     SCHED_TASK_CLASS(AP_Mount, &plane.camera_mount, update, 50, 100, 105),
 #endif // HAL_MOUNT_ENABLED
-#if CAMERA == ENABLED
+#if AP_CAMERA_ENABLED
     SCHED_TASK_CLASS(AP_Camera, &plane.camera, update,      50, 100, 108),
 #endif // CAMERA == ENABLED
     SCHED_TASK_CLASS(AP_Scheduler, &plane.scheduler, update_logging,         0.2,    100, 111),

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
@@ -746,7 +746,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: ../libraries/AP_GPS/AP_GPS.cpp
     GOBJECT(gps, "GPS", AP_GPS),
 
-#if CAMERA == ENABLED
+#if AP_CAMERA_ENABLED
     // @Group: CAM_
     // @Path: ../libraries/AP_Camera/AP_Camera.cpp
     GOBJECT(camera,                  "CAM_", AP_Camera),

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -236,7 +236,7 @@ class Plane : public AP_Vehicle {
     AP_Navigation *nav_controller = &L1_controller;
 
     // Camera
-#if CAMERA == ENABLED
+#if AP_CAMERA_ENABLED
     AP_Camera camera{MASK_LOG_CAMERA};
 #endif
 

diff --git a/ArduPlane/config.h b/ArduPlane/config.h
@@ -111,13 +111,6 @@
  #define DSPOILR_RUD_RATE_DEFAULT 100
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// CAMERA TRIGGER AND CONTROL
-//
-#ifndef CAMERA
- # define CAMERA         ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // FLIGHT AND NAVIGATION CONTROL

diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
@@ -53,7 +53,7 @@ bool Mode::enter()
     plane.guided_state.last_target_alt = 0;
 #endif
 
-#if CAMERA == ENABLED
+#if AP_CAMERA_ENABLED
     plane.camera.set_is_auto_mode(this == &plane.mode_auto);
 #endif