Remove ENABLE/ENABLED from Plane

ArduPlane/ArduPlane.cpp

@@ -559,7 +559,7 @@ void Plane::update_alt()
 
     // low pass the sink rate to take some of the noise out
     auto_state.sink_rate = 0.8f * auto_state.sink_rate + 0.2f*sink_rate;
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
     parachute.set_sink_rate(auto_state.sink_rate);
 #endif
 

ArduPlane/GCS_Mavlink.cpp

@@ -878,8 +878,8 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_do_reposition(const mavlink_com
 MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet)
 {
   switch(packet.command) {
-    
-#if OFFBOARD_GUIDED == ENABLED
+
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     case MAV_CMD_GUIDED_CHANGE_SPEED: {
         // command is only valid in guided mode
         if (plane.control_mode != &plane.mode_guided) {
@@ -1008,7 +1008,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavl
         plane.guided_state.target_heading_time_ms = AP_HAL::millis();
         return MAV_RESULT_ACCEPTED;
     }
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 
 
   }
@@ -1054,7 +1054,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
     case MAV_CMD_DO_CHANGE_SPEED:
         return handle_command_DO_CHANGE_SPEED(packet);
 
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
     case MAV_CMD_DO_PARACHUTE:
         return handle_MAV_CMD_DO_PARACHUTE(packet);
 #endif
@@ -1182,7 +1182,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_AUTOTUNE_ENABLE(const mavlink_co
         return MAV_RESULT_ACCEPTED;
 }
 
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
 MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet)
 {
         // configure or release parachute

ArduPlane/Log.cpp

@@ -121,7 +121,7 @@ void Plane::Log_Write_Control_Tuning()
     logger.WriteBlock(&pkt, sizeof(pkt));
 }
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 struct PACKED log_OFG_Guided {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -265,7 +265,7 @@ void Plane::Log_Write_RC(void)
 
 void Plane::Log_Write_Guided(void)
 {
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     if (control_mode != &mode_guided) {
         return;
     }
@@ -277,7 +277,7 @@ void Plane::Log_Write_Guided(void)
     if ( is_positive(guided_state.target_alt) || is_positive(guided_state.target_airspeed_cm) ) {
         Log_Write_OFG_Guided();
     }
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 }
 
 // incoming-to-vehicle mavlink COMMAND_INT can be logged
@@ -483,7 +483,7 @@ const struct LogStructure Plane::log_structure[] = {
     { LOG_AETR_MSG, sizeof(log_AETR),
       "AETR", "Qfffffff",  "TimeUS,Ail,Elev,Thr,Rudd,Flap,Steer,SS", "s-------", "F-------" , true },
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 // @LoggerMessage: OFG
 // @Description: OFfboard-Guided - an advanced version of GUIDED for companion computers that includes rate/s.  
 // @Field: TimeUS: Time since system startup

ArduPlane/Parameters.cpp

@@ -782,7 +782,7 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
 	// @Group: CHUTE_
     // @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
     GOBJECT(parachute,		"CHUTE_", AP_Parachute),
@@ -1218,11 +1218,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("RTL_CLIMB_MIN", 27, ParametersG2, rtl_climb_min, 0),
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     // @Group: GUIDED_
     // @Path: ../libraries/AC_PID/AC_PID.cpp
     AP_SUBGROUPINFO(guidedHeading, "GUIDED_", 28, ParametersG2, AC_PID),
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 
     // @Param: MAN_EXPO_ROLL
     // @DisplayName: Manual control expo for roll

ArduPlane/Parameters.h

@@ -555,7 +555,7 @@ class ParametersG2 {
     } fwd_batt_cmp;
 
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     // guided yaw heading PID
     AC_PID guidedHeading{5000.0,  0.0,   0.0, 0 ,  10.0,   5.0,  5.0 ,  5.0  , 0.0};
 #endif

ArduPlane/Plane.h

@@ -553,7 +553,7 @@ class Plane : public AP_Vehicle {
         float forced_throttle;
         uint32_t last_forced_throttle_ms;
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
         // airspeed adjustments
         float target_airspeed_cm = -1;  // don't default to zero here, as zero is a valid speed.
         float target_airspeed_accel;
@@ -572,7 +572,7 @@ class Plane : public AP_Vehicle {
         uint32_t target_heading_time_ms;
         guided_heading_type_t target_heading_type;
         bool target_heading_limit;
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     } guided_state;
 
 #if AP_LANDINGGEAR_ENABLED
@@ -649,7 +649,7 @@ class Plane : public AP_Vehicle {
             FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void)};
 
 
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
     AP_Parachute parachute;
 #endif
 
@@ -1155,7 +1155,7 @@ class Plane : public AP_Vehicle {
 
     // parachute.cpp
     void parachute_check();
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
     void do_parachute(const AP_Mission::Mission_Command& cmd);
     void parachute_release();
     bool parachute_manual_release();

ArduPlane/RC_Channel.cpp

@@ -353,7 +353,7 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
         break;
 
     case AUX_FUNC::PARACHUTE_RELEASE:
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
         if (ch_flag == AuxSwitchPos::HIGH) {
             plane.parachute_manual_release();
         }

ArduPlane/config.h

@@ -2,14 +2,6 @@
 
 #include "defines.h"
 
-// Just so that it's completely clear...
-#define ENABLED                 1
-#define DISABLED                0
-
-// this avoids a very common config error
-#define ENABLE ENABLED
-#define DISABLE DISABLED
-
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // HARDWARE CONFIGURATION AND CONNECTIONS
@@ -213,14 +205,8 @@
  # define FENCE_TRIGGERED_PIN -1
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Parachute release
-#ifndef PARACHUTE
-#define PARACHUTE HAL_PARACHUTE_ENABLED
-#endif
-
-#ifndef OFFBOARD_GUIDED
- #define OFFBOARD_GUIDED 1
+#ifndef AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
+ #define AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED 1
 #endif
 
 //////////////////////////////////////////////////////////////////////////////

ArduPlane/events.cpp

@@ -138,7 +138,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
             break;
         }
         if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
             parachute_release();
 #endif
         } else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
@@ -187,7 +187,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
     case Mode::Number::GUIDED:
 
         if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
             parachute_release();
 #endif
         } else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
@@ -311,7 +311,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
             break;
 
         case Failsafe_Action_Parachute:
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
             parachute_release();
 #endif
             break;

ArduPlane/is_flying.cpp

@@ -162,7 +162,7 @@ void Plane::update_is_flying_5Hz(void)
 #if HAL_ADSB_ENABLED
     adsb.set_is_flying(new_is_flying);
 #endif
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
     parachute.set_is_flying(new_is_flying);
 #endif
 #if AP_STATS_ENABLED

ArduPlane/mode.cpp

@@ -54,7 +54,7 @@ bool Mode::enter()
     plane.guided_state.last_forced_rpy_ms.zero();
     plane.guided_state.last_forced_throttle_ms = 0;
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     plane.guided_state.target_heading = -4; // radians here are in range -3.14 to 3.14, so a default value needs to be outside that range
     plane.guided_state.target_heading_type = GUIDED_HEADING_NONE;
     plane.guided_state.target_airspeed_cm = -1; // same as above, although an airspeed of -1 is rare on plane.

ArduPlane/mode_guided.cpp

@@ -42,7 +42,7 @@ void ModeGuided::update()
         plane.nav_roll_cd = constrain_int32(plane.guided_state.forced_rpy_cd.x, -plane.roll_limit_cd, plane.roll_limit_cd);
         plane.update_load_factor();
 
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     // guided_state.target_heading is radians at this point between -pi and pi ( defaults to -4 )
     // This function is used in Guided and AvoidADSB, check for guided
     } else if ((plane.control_mode == &plane.mode_guided) && (plane.guided_state.target_heading_type != GUIDED_HEADING_NONE) ) {
@@ -70,7 +70,7 @@ void ModeGuided::update()
         plane.nav_roll_cd = constrain_int32(desired, -bank_limit, bank_limit);
         plane.update_load_factor();
 
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     } else {
         plane.calc_nav_roll();
     }
@@ -128,7 +128,7 @@ void ModeGuided::set_radius_and_direction(const float radius, const bool directi
 
 void ModeGuided::update_target_altitude()
 {
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     if (((plane.guided_state.target_alt_time_ms != 0) || plane.guided_state.target_alt > -0.001 )) { // target_alt now defaults to -1, and _time_ms defaults to zero.
         // offboard altitude demanded
         uint32_t now = AP_HAL::millis();
@@ -148,7 +148,7 @@ void ModeGuided::update_target_altitude()
         plane.guided_state.last_target_alt = temp.alt;
         plane.set_target_altitude_location(temp);
     } else 
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
         {
         Mode::update_target_altitude();
     }

ArduPlane/navigation.cpp

@@ -187,7 +187,7 @@ void Plane::calc_airspeed_errors()
             target_airspeed_cm = ((int32_t)(aparm.airspeed_max - aparm.airspeed_min) *
                                   get_throttle_input()) + ((int32_t)aparm.airspeed_min * 100);
         }
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     } else if (control_mode == &mode_guided && guided_state.target_airspeed_cm >  0.0) { // if offboard guided speed change cmd not set, then this section is skipped
         // offboard airspeed demanded
         uint32_t now = AP_HAL::millis();
@@ -203,7 +203,7 @@ void Plane::calc_airspeed_errors()
             target_airspeed_cm = constrain_float(MAX(guided_state.target_airspeed_cm, target_airspeed_cm), aparm.airspeed_min *100, aparm.airspeed_max *100);
         }
 
-#endif // OFFBOARD_GUIDED == ENABLED
+#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
 
 #if HAL_SOARING_ENABLED
     } else if (g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed()) {
@@ -256,7 +256,7 @@ void Plane::calc_airspeed_errors()
     }
 
     // when using the special GUIDED mode features for slew control, don't allow airspeed nudging as it doesn't play nicely.
-#if OFFBOARD_GUIDED == ENABLED
+#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
     if (control_mode == &mode_guided && !is_zero(guided_state.target_airspeed_cm) && (airspeed_nudge_cm != 0)) {
         airspeed_nudge_cm = 0; //airspeed_nudge_cm forced to zero
     }

ArduPlane/parachute.cpp

@@ -6,13 +6,13 @@
 */
 void Plane::parachute_check()
 {
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
     parachute.update();
     parachute.check_sink_rate();
 #endif
 }
 
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
 
 /*
   parachute_release - trigger the release of the parachute

ArduPlane/servos.cpp

@@ -78,7 +78,7 @@ bool Plane::suppress_throttle(void)
         return false;
     }
 
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
     if (control_mode->does_auto_throttle() && parachute.release_initiated()) {
         // throttle always suppressed in auto-throttle modes after parachute release initiated
         throttle_suppressed = true;

ArduPlane/system.cpp

@@ -57,7 +57,7 @@ void Plane::init_ardupilot()
     gcs().setup_uarts();
 
 
-#if OSD_ENABLED == ENABLED
+#if OSD_ENABLED
     osd.init();
 #endif
 

Tools/autotest/vehicle_test_suite.py

@@ -3032,7 +3032,7 @@ def all_log_format_ids(self):
                         continue
                     if "#if AC_PRECLAND_ENABLED" in line:
                         continue
-                    if "#if OFFBOARD_GUIDED == ENABLED" in line:
+                    if "#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED" in line:
                         continue
                     if "#end" in line:
                         continue

libraries/AP_HAL_ChibiOS/hwdef/include/minimize_common.inc

@@ -101,7 +101,7 @@ define AP_LANDINGGEAR_ENABLED APM_BUILD_COPTER_OR_HELI
 
 # Plane-specific defines; these defines are only used in the Plane
 #  directory, but are seen across the entire codebase:
-define OFFBOARD_GUIDED 0
+define AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED 0
 define QAUTOTUNE_ENABLED 0
 
 # Copter-specific defines; these defines are only used in the Copter

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -2573,7 +2573,7 @@ def write_all_lines(self, hwdat):
         f = open(hwdat, 'w')
         f.write('\n'.join(self.all_lines))
         f.close()
-        if not self.is_periph_fw():
+        if not self.is_periph_fw() and not os.getenv("NO_ROMFS_HWDEF", False):
             self.romfs["hwdef.dat"] = hwdat
 
     def write_defaulting_define(self, f, name, value):