diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp index e4b0a24174..6f584dc561 100644 --- a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp +++ b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp @@ -25,9 +25,7 @@ extern const AP_HAL::HAL &hal; // parameter defaults const float OA_MARGIN_MAX_DEFAULT = 5; -#if APM_BUILD_TYPE(APM_BUILD_Rover) - const int16_t OA_OPTIONS_DEFAULT = 1; -#endif +const int16_t OA_OPTIONS_DEFAULT = 1; const int16_t OA_UPDATE_MS = 1000; // path planning updates run at 1hz const int16_t OA_TIMEOUT_MS = 3000; // results over 3 seconds old are ignored @@ -57,16 +55,14 @@ const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = { // @Path: AP_OADatabase.cpp AP_SUBGROUPINFO(_oadatabase, "DB_", 4, AP_OAPathPlanner, AP_OADatabase), -#if APM_BUILD_TYPE(APM_BUILD_Rover) - // @Param: OPTIONS + // @Param{Rover}: OPTIONS // @DisplayName: Options while recovering from Object Avoidance // @Description: Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear). // @Values: 0:Vehicle will return to its original waypoint trajectory, 1:Reset the origin of the waypoint to the present location // @Bitmask: 0: Reset the origin of the waypoint to the present location // @User: Standard - AP_GROUPINFO("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT), -#endif - + AP_GROUPINFO_FRAME("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT, AP_PARAM_FRAME_ROVER), + // @Group: BR_ // @Path: AP_OABendyRuler.cpp AP_SUBGROUPPTR(_oabendyruler, "BR_", 6, AP_OAPathPlanner, AP_OABendyRuler),