Plane: added HIL_SUPPORT define

disable HIL support on APM2 to save flash space

ArduPlane/ArduPlane.cpp

@@ -137,10 +137,12 @@ void Plane::ahrs_update()
     hal.util->set_soft_armed(arming.is_armed() &&
                    hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
 
+#if HIL_SUPPORT
     if (g.hil_mode == 1) {
         // update hil before AHRS update
         gcs_update();
     }
+#endif
 
     ahrs.update();
 

ArduPlane/Attitude.cpp

@@ -995,6 +995,7 @@ void Plane::set_servos(void)
     obc.check_crash_plane();
 #endif
 
+#if HIL_SUPPORT
     if (g.hil_mode == 1) {
         // get the servos to the GCS immediately for HIL
         if (comm_get_txspace(MAVLINK_COMM_0) >= 
@@ -1005,6 +1006,7 @@ void Plane::set_servos(void)
             return;
         }
     }
+#endif
 
     // send values to the PWM timers for output
     // ----------------------------------------

ArduPlane/GCS_Mavlink.cpp

@@ -69,9 +69,11 @@ void Plane::send_heartbeat(mavlink_channel_t chan)
         base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
     }
 
+#if HIL_SUPPORT
     if (g.hil_mode == 1) {
         base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
     }
+#endif
 
     // we are armed if we are not initialising
     if (control_mode != INITIALISING && hal.util->get_soft_armed()) {
@@ -366,6 +368,7 @@ void Plane::send_servo_out(mavlink_channel_t chan)
 
 void Plane::send_radio_out(mavlink_channel_t chan)
 {
+#if HIL_SUPPORT
     if (g.hil_mode==1 && !g.hil_servos) {
         mavlink_msg_servo_output_raw_send(
             chan,
@@ -381,6 +384,7 @@ void Plane::send_radio_out(mavlink_channel_t chan)
             RC_Channel::rc_channel(7)->radio_out);
         return;
     }
+#endif
     mavlink_msg_servo_output_raw_send(
         chan,
         micros(),
@@ -416,14 +420,16 @@ void Plane::send_vfr_hud(mavlink_channel_t chan)
 /*
   keep last HIL_STATE message to allow sending SIM_STATE
  */
+#if HIL_SUPPORT
 static mavlink_hil_state_t last_hil_state;
+#endif
 
 // report simulator state
 void Plane::send_simstate(mavlink_channel_t chan)
 {
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     sitl.simstate_send(chan);
-#else
+#elif HIL_SUPPORT
     if (g.hil_mode == 1) {
         mavlink_msg_simstate_send(chan,
                                   last_hil_state.roll,
@@ -637,10 +643,12 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         break;
 
     case MSG_SERVO_OUT:
+#if HIL_SUPPORT
         if (plane.g.hil_mode == 1) {
             CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
             plane.send_servo_out(chan);
         }
+#endif
         break;
 
     case MSG_RADIO_IN:
@@ -937,6 +945,7 @@ GCS_MAVLINK::data_stream_send(void)
     if (plane.gcs_out_of_time) return;
 
     if (plane.in_mavlink_delay) {
+#if HIL_SUPPORT
         if (plane.g.hil_mode == 1) {
             // in HIL we need to keep sending servo values to ensure
             // the simulator doesn't pause, otherwise our sensor
@@ -948,6 +957,7 @@ GCS_MAVLINK::data_stream_send(void)
                 send_message(MSG_RADIO_OUT);
             }
         }
+#endif
         // don't send any other stream types while in the delay callback
         return;
     }
@@ -1606,6 +1616,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     case MAVLINK_MSG_ID_HIL_STATE:
     {
+#if HIL_SUPPORT
         if (plane.g.hil_mode != 1) {
             break;
         }
@@ -1656,6 +1667,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
              wrap_PI(fabsf(packet.yaw - plane.ahrs.yaw)) > ToRad(plane.g.hil_err_limit))) {
             plane.ahrs.reset_attitude(packet.roll, packet.pitch, packet.yaw);
         }
+#endif
         break;
     }
 

ArduPlane/Parameters.cpp

@@ -934,12 +934,14 @@ const AP_Param::Info Plane::var_info[] PROGMEM = {
     // @User: Standard
     GSCALAR(inverted_flight_ch,     "INVERTEDFLT_CH", 0),
 
+#if HIL_SUPPORT
     // @Param: HIL_MODE
     // @DisplayName: HIL mode enable
     // @Description: This enables and disables hardware in the loop mode. If HIL_MODE is 1 then on the next reboot all sensors are replaced with HIL sensors which come from the GCS.
     // @Values: 0:Disabled,1:Enabled
     // @User: Advanced
     GSCALAR(hil_mode,               "HIL_MODE",      0),
+#endif
 
     // @Param: HIL_SERVOS
     // @DisplayName: HIL Servos enable

ArduPlane/Parameters.h

@@ -448,7 +448,9 @@ public:
     AP_Int16 pitch_trim_cd;
     AP_Int16 FBWB_min_altitude_cm;
     AP_Int8  hil_servos;
+#if HIL_SUPPORT
     AP_Int8  hil_mode;
+#endif
 
     AP_Int8 compass_enabled;
     AP_Int8 flap_1_percent;

ArduPlane/config.h

@@ -459,6 +459,12 @@
 #define CLI_ENABLED DISABLED
 #endif
 
+#if HAL_CPU_CLASS < HAL_CPU_CLASS_75
+#define HIL_SUPPORT DISABLED
+#else
+#define HIL_SUPPORT ENABLED
+#endif
+
 /*
   build a firmware version string.
   GIT_VERSION comes from Makefile builds

ArduPlane/system.cpp

@@ -95,12 +95,14 @@ void Plane::init_ardupilot()
     //
     load_parameters();
 
+#if HIL_SUPPORT
     if (g.hil_mode == 1) {
         // set sensors to HIL mode
         ins.set_hil_mode();
         compass.set_hil_mode();
         barometer.set_hil_mode();
     }
+#endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
     // this must be before BoardConfig.init() so if
@@ -536,6 +538,7 @@ void Plane::check_short_failsafe()
 
 void Plane::startup_INS_ground(void)
 {
+#if HIL_SUPPORT
     if (g.hil_mode == 1) {
         while (barometer.get_last_update() == 0) {
             // the barometer begins updating when we get the first
@@ -544,6 +547,7 @@ void Plane::startup_INS_ground(void)
             hal.scheduler->delay(1000);
         }
     }
+#endif
 
     AP_InertialSensor::Start_style style;
     if (g.skip_gyro_cal) {
@@ -679,12 +683,14 @@ void Plane::print_comma(void)
  */
 void Plane::servo_write(uint8_t ch, uint16_t pwm)
 {
+#if HIL_SUPPORT
     if (g.hil_mode==1 && !g.hil_servos) {
         if (ch < 8) {
             RC_Channel::rc_channel(ch)->radio_out = pwm;
         }
         return;
     }
+#endif
     hal.rcout->enable_ch(ch);
     hal.rcout->write(ch, pwm);
 }