AC_Avoidance: change AC_FENCE to AP_FENCE_ENABLED

libraries/AC_Avoidance/AC_Avoid.cpp

@@ -132,7 +132,7 @@ void AC_Avoid::adjust_velocity_fence(float kP, float accel_cmss, Vector3f &desir
     // maximum component of desired  backup velocity in each quadrant 
     Vector2f quad_1_back_vel, quad_2_back_vel, quad_3_back_vel, quad_4_back_vel;
 
-#if AC_FENCE
+#if AP_FENCE_ENABLED
     if ((_enabled & AC_AVOID_STOP_AT_FENCE) > 0) {
         // Store velocity needed to back away from fence
         Vector2f backup_vel_fence;
@@ -365,7 +365,7 @@ void AC_Avoid::adjust_velocity_z(float kP, float accel_cmss, float& climb_rate_c
 
     const AP_AHRS &_ahrs = AP::ahrs();
 
-#if AC_FENCE
+#if AP_FENCE_ENABLED
     // calculate distance below fence
     AC_Fence *fence = AP::fence();
     if ((_enabled & AC_AVOID_STOP_AT_FENCE) > 0 && fence && (fence->get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) > 0) {
@@ -661,7 +661,7 @@ float AC_Avoid::get_max_speed(float kP, float accel_cmss, float distance_cm, flo
     }
 }
 
-#if AC_FENCE
+#if AP_FENCE_ENABLED
 
 /*
  * Adjusts the desired velocity for the circular fence.
@@ -1086,7 +1086,7 @@ void AC_Avoid::adjust_velocity_exclusion_circles(float kP, float accel_cmss, Vec
     // desired backup velocity is sum of maximum velocity component in each quadrant 
     backup_vel = quad_1_back_vel + quad_2_back_vel + quad_3_back_vel + quad_4_back_vel;
 }
-#endif // AC_FENCE
+#endif // AP_FENCE_ENABLED
 
 /*
  * Adjusts the desired velocity for the beacon fence.
@@ -1109,7 +1109,7 @@ void AC_Avoid::adjust_velocity_beacon_fence(float kP, float accel_cmss, Vector2f
 
     // adjust velocity using beacon
     float margin = 0;
-#if AC_FENCE
+#if AP_FENCE_ENABLED
     if (AP::fence()) {
         margin = AP::fence()->get_margin();
     }

libraries/AC_Avoidance/AP_OABendyRuler.cpp

@@ -456,7 +456,7 @@ float AP_OABendyRuler::calc_avoidance_margin(const Location &start, const Locati
 // on success returns true and updates margin
 bool AP_OABendyRuler::calc_margin_from_circular_fence(const Location &start, const Location &end, float &margin) const
 {
-#if AC_FENCE
+#if AP_FENCE_ENABLED
     // exit immediately if polygon fence is not enabled
     const AC_Fence *fence = AC_Fence::get_singleton();
     if (fence == nullptr) {
@@ -479,14 +479,14 @@ bool AP_OABendyRuler::calc_margin_from_circular_fence(const Location &start, con
     return true;
 #else
     return false;
-#endif // AC_FENCE
+#endif // AP_FENCE_ENABLED
 }
 
 // calculate minimum distance between a path and the altitude fence
 // on success returns true and updates margin
 bool AP_OABendyRuler::calc_margin_from_alt_fence(const Location &start, const Location &end, float &margin) const
 {
-#if AC_FENCE
+#if AP_FENCE_ENABLED
     // exit immediately if polygon fence is not enabled
     const AC_Fence *fence = AC_Fence::get_singleton();
     if (fence == nullptr) {
@@ -515,14 +515,14 @@ bool AP_OABendyRuler::calc_margin_from_alt_fence(const Location &start, const Lo
     return true;
 #else
     return false;
-#endif // AC_FENCE
+#endif // AP_FENCE_ENABLED
 }
 
 // calculate minimum distance between a path and all inclusion and exclusion polygons
 // on success returns true and updates margin
 bool AP_OABendyRuler::calc_margin_from_inclusion_and_exclusion_polygons(const Location &start, const Location &end, float &margin) const
 {
-#if AC_FENCE
+#if AP_FENCE_ENABLED
     const AC_Fence *fence = AC_Fence::get_singleton();
     if (fence == nullptr) {
         return false;
@@ -585,14 +585,14 @@ bool AP_OABendyRuler::calc_margin_from_inclusion_and_exclusion_polygons(const Lo
     return margin_updated;
 #else
     return false;
-#endif // AC_FENCE
+#endif // AP_FENCE_ENABLED
 }
 
 // calculate minimum distance between a path and all inclusion and exclusion circles
 // on success returns true and updates margin
 bool AP_OABendyRuler::calc_margin_from_inclusion_and_exclusion_circles(const Location &start, const Location &end, float &margin) const
 {
-#if AC_FENCE
+#if AP_FENCE_ENABLED
     // exit immediately if fence is not enabled
     const AC_Fence *fence = AC_Fence::get_singleton();
     if (fence == nullptr) {
@@ -665,7 +665,7 @@ bool AP_OABendyRuler::calc_margin_from_inclusion_and_exclusion_circles(const Loc
     return margin_updated;
 #else
     return false;
-#endif // AC_FENCE
+#endif // AP_FENCE_ENABLED
 }
 
 // calculate minimum distance between a path and proximity sensor obstacles

libraries/AC_Avoidance/AP_OADijkstra.cpp

@@ -18,7 +18,7 @@
 
 #include <AC_Fence/AC_Fence.h>
 
-#if AC_FENCE
+#if AP_FENCE_ENABLED
 
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Logger/AP_Logger.h>
@@ -962,5 +962,5 @@ bool AP_OADijkstra::convert_node_to_point(const AP_OAVisGraph::OAItemID& id, Vec
     // we should never reach here but just in case
     return false;
 }
-#endif // AC_FENCE
+#endif // AP_FENCE_ENABLED
 

libraries/AC_Avoidance/AP_OAPathPlanner.cpp

@@ -93,14 +93,14 @@ void AP_OAPathPlanner::init()
         }
         break;
     case OA_PATHPLAN_DIJKSTRA:
-#if AC_FENCE
+#if AP_FENCE_ENABLED
         if (_oadijkstra == nullptr) {
             _oadijkstra = new AP_OADijkstra(_options);
         }
 #endif
         break;
     case OA_PATHPLAN_DJIKSTRA_BENDYRULER:
-#if AC_FENCE
+#if AP_FENCE_ENABLED
         if (_oadijkstra == nullptr) {
             _oadijkstra = new AP_OADijkstra(_options);
         }
@@ -302,7 +302,7 @@ void AP_OAPathPlanner::avoidance_thread()
         }
 
         case OA_PATHPLAN_DIJKSTRA: {
-#if AC_FENCE
+#if AP_FENCE_ENABLED
             if (_oadijkstra == nullptr) {
                 continue;
             }
@@ -338,7 +338,7 @@ void AP_OAPathPlanner::avoidance_thread()
                 break;
             } else {
                 // cleared all obstacles, trigger Dijkstra's to calculate path based on current deviated position  
-#if AC_FENCE
+#if AP_FENCE_ENABLED
                 if (proximity_only == false) {
                     _oadijkstra->recalculate_path();
                 }
@@ -346,7 +346,7 @@ void AP_OAPathPlanner::avoidance_thread()
                 // only use proximity avoidance now for BendyRuler
                 proximity_only = true;
             }
-#if AC_FENCE
+#if AP_FENCE_ENABLED
             _oadijkstra->set_fence_margin(_margin_max);
             const AP_OADijkstra::AP_OADijkstra_State dijkstra_state = _oadijkstra->update(avoidance_request2.current_loc, avoidance_request2.destination, origin_new, destination_new);
             switch (dijkstra_state) {