ArduPlane: create and use AP_OPTICALFLOW_ENABLED

tridge · Dec 29, 2021 · e55eea9 · e55eea9
1 parent f361d9b
commit e55eea9
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Showing 6 changed files with 5 additions and 14 deletions.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -84,7 +84,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(read_rangefinder,       50,    100, 78),
     SCHED_TASK_CLASS(AP_ICEngine,      &plane.g2.ice_control, update,     10, 100,  81),
     SCHED_TASK_CLASS(Compass,          &plane.compass,        cal_update, 50,  50,  84),
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update,    50,    50,  87),
 #endif
     SCHED_TASK(one_second_loop,         1,    400,  90),

diff --git a/ArduPlane/GCS_Plane.cpp b/ArduPlane/GCS_Plane.cpp
@@ -110,7 +110,7 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION;
     }
 
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     const OpticalFlow *optflow = AP::opticalflow();
     if (optflow && optflow->enabled()) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
@@ -938,7 +938,7 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(afs,  "AFS_", AP_AdvancedFailsafe),
 #endif
 
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     // @Group: FLOW
     // @Path: ../libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
     GOBJECT(optflow,   "FLOW", OpticalFlow),

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -241,7 +241,7 @@ class Plane : public AP_Vehicle {
     AP_Camera camera{MASK_LOG_CAMERA};
 #endif
 
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     // Optical flow sensor
     OpticalFlow optflow;
 #endif

diff --git a/ArduPlane/config.h b/ArduPlane/config.h
@@ -33,15 +33,6 @@
 #endif
 
 
-//////////////////////////////////////////////////////////////////////////////
-// Optical flow sensor support
-//
-
-#ifndef OPTFLOW
- # define OPTFLOW ENABLED
-#endif
-
-
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION

diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
@@ -136,7 +136,7 @@ void Plane::init_ardupilot()
     reset_control_switch();
 
     // initialise sensor
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     if (optflow.enabled()) {
         optflow.init(-1);
     }