ArduCopter: create and use AP_OPTICALFLOW_ENABLED

Including a define for each backend.

ArduCopter/APM_Config.h

@@ -15,7 +15,6 @@
 //#define AC_OAPATHPLANNER_ENABLED DISABLED         // disable path planning around obstacles
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
 //#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 PRECISION_LANDING     DISABLED            // disable precision landing using companion computer or IRLock sensor
 //#define BEACON_ENABLED        DISABLED            // disable beacon support

ArduCopter/Copter.cpp

@@ -113,7 +113,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(rc_loop,              100,    130,  3),
     SCHED_TASK(throttle_loop,         50,     75,  6),
     SCHED_TASK_CLASS(AP_GPS,               &copter.gps,                 update,          50, 200,   9),
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     SCHED_TASK_CLASS(OpticalFlow,          &copter.optflow,             update,         200, 160,  12),
 #endif
     SCHED_TASK(update_batt_compass,   10,    120, 15),

ArduCopter/Copter.h

@@ -124,9 +124,7 @@
 #if AP_TERRAIN_AVAILABLE
  # include <AP_Terrain/AP_Terrain.h>
 #endif
-#if OPTFLOW == ENABLED
  # include <AP_OpticalFlow/AP_OpticalFlow.h>
-#endif
 #if RANGEFINDER_ENABLED == ENABLED
  # include <AP_RangeFinder/AP_RangeFinder.h>
 #endif
@@ -307,7 +305,7 @@ private:
     AP_Arming_Copter arming;
 
     // Optical flow sensor
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     OpticalFlow optflow;
 #endif
 
@@ -975,7 +973,7 @@ private:
 #if MODE_SMARTRTL_ENABLED == ENABLED
     ModeSmartRTL mode_smartrtl;
 #endif
-#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
+#if !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
     ModeFlowHold mode_flowhold;
 #endif
 #if MODE_ZIGZAG_ENABLED == ENABLED

ArduCopter/GCS_Copter.cpp

@@ -114,7 +114,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
     }
 #endif
 
-#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;

ArduCopter/Parameters.cpp

@@ -695,7 +695,7 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(terrain,                "TERRAIN_", AP_Terrain),
 #endif
 
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     // @Group: FLOW
     // @Path: ../libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
     GOBJECT(optflow,   "FLOW", OpticalFlow),
@@ -915,7 +915,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("LAND_ALT_LOW", 25, ParametersG2, land_alt_low, 1000),
 
-#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
+#if !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
     // @Group: FHLD
     // @Path: mode_flowhold.cpp
     AP_SUBGROUPPTR(mode_flowhold_ptr, "FHLD", 26, ParametersG2, ModeFlowHold),
@@ -1131,7 +1131,7 @@ ParametersG2::ParametersG2(void)
 #if MODE_SMARTRTL_ENABLED == ENABLED
     ,smart_rtl()
 #endif
-#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
+#if !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
     ,mode_flowhold_ptr(&copter.mode_flowhold)
 #endif
 #if MODE_FOLLOW_ENABLED == ENABLED

ArduCopter/Parameters.h

@@ -574,7 +574,7 @@ public:
     ToyMode toy_mode;
 #endif
 
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     // we need a pointer to the mode for the G2 table
     void *mode_flowhold_ptr;
 #endif

ArduCopter/RC_Channel.cpp

@@ -496,7 +496,7 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
             break;
 
         case AUX_FUNC::FLOWHOLD:
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
             do_aux_function_change_mode(Mode::Number::FLOWHOLD, ch_flag);
 #endif
             break;

ArduCopter/config.h

@@ -168,12 +168,6 @@
  # define EKF_ORIGIN_MAX_ALT_KM         50   // EKF origin and home must be within 50km vertically
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-//  OPTICAL_FLOW
-#ifndef OPTFLOW
- # define OPTFLOW       ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 //  Auto Tuning
 #ifndef AUTOTUNE_ENABLED

ArduCopter/ekf_check.cpp

@@ -132,7 +132,7 @@ bool Copter::ekf_over_threshold()
     }
 
     bool optflow_healthy = false;
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     optflow_healthy = optflow.healthy();
 #endif
     if (!optflow_healthy && (vel_variance >= (2.0f * g.fs_ekf_thresh))) {

ArduCopter/mode.cpp

@@ -139,7 +139,7 @@ Mode *Copter::mode_from_mode_num(const Mode::Number mode)
             break;
 #endif
 
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
         case Mode::Number::FLOWHOLD:
             ret = (Mode *)g2.mode_flowhold_ptr;
             break;

ArduCopter/mode.h

@@ -770,7 +770,7 @@ private:
 };
 
 
-#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
+#if !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
 /*
   class to support FLOWHOLD mode, which is a position hold mode using
   optical flow directly, avoiding the need for a rangefinder
@@ -856,7 +856,7 @@ private:
     // last time there was significant stick input
     uint32_t last_stick_input_ms;
 };
-#endif // OPTFLOW
+#endif // AP_OPTICALFLOW_ENABLED
 
 
 class ModeGuided : public Mode {

ArduCopter/mode_flowhold.cpp

@@ -1,7 +1,7 @@
 #include "Copter.h"
 #include <utility>
 
-#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
+#if !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
 
 /*
   implement FLOWHOLD mode, for position hold using optical flow
@@ -509,4 +509,4 @@ void ModeFlowHold::update_height_estimate(void)
     last_ins_height = ins_height;
 }
 
-#endif // OPTFLOW == ENABLED
+#endif // AP_OPTICALFLOW_ENABLED

ArduCopter/system.cpp

@@ -117,10 +117,10 @@ void Copter::init_ardupilot()
 
     attitude_control->parameter_sanity_check();
 
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     // initialise optical flow sensor
     optflow.init(MASK_LOG_OPTFLOW);
-#endif      // OPTFLOW == ENABLED
+#endif      // AP_OPTICALFLOW_ENABLED
 
 #if HAL_MOUNT_ENABLED
     // initialise camera mount
@@ -341,7 +341,7 @@ bool Copter::ekf_has_relative_position() const
 
     // return immediately if neither optflow nor visual odometry is enabled
     bool enabled = false;
-#if OPTFLOW == ENABLED
+#if AP_OPTICALFLOW_ENABLED
     if (optflow.enabled()) {
         enabled = true;
     }