AP_Landing: enable deepstall landing to be compiled out of the code

libraries/AP_Landing/AP_Landing.cpp

@@ -145,9 +145,11 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("TYPE",    14, AP_Landing, type, TYPE_STANDARD_GLIDE_SLOPE),
 
+#if HAL_LANDING_DEEPSTALL_ENABLED
     // @Group: DS_
     // @Path: AP_Landing_Deepstall.cpp
     AP_SUBGROUPINFO(deepstall, "DS_", 15, AP_Landing, AP_Landing_Deepstall),
+#endif
 
     // @Param: OPTIONS
     // @DisplayName: Landing options bitmask
@@ -178,7 +180,9 @@ AP_Landing::AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_SpdHgtControl *_
     ,adjusted_relative_altitude_cm_fn(_adjusted_relative_altitude_cm_fn)
     ,disarm_if_autoland_complete_fn(_disarm_if_autoland_complete_fn)
     ,update_flight_stage_fn(_update_flight_stage_fn)
+#if HAL_LANDING_DEEPSTALL_ENABLED
     ,deepstall(*this)
+#endif
 {
     AP_Param::setup_object_defaults(this, var_info);
 }
@@ -193,9 +197,11 @@ void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float rel
     case TYPE_STANDARD_GLIDE_SLOPE:
         type_slope_do_land(cmd, relative_altitude);
         break;
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         deepstall.do_land(cmd, relative_altitude);
         break;
+#endif
     default:
         // a incorrect type is handled in the verify_land
         break;
@@ -218,10 +224,12 @@ bool AP_Landing::verify_land(const Location &prev_WP_loc, Location &next_WP_loc,
         success = type_slope_verify_land(prev_WP_loc, next_WP_loc, current_loc,
                 height, sink_rate, wp_proportion, last_flying_ms, is_armed, is_flying, rangefinder_state_in_range);
         break;
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         success = deepstall.verify_land(prev_WP_loc, next_WP_loc, current_loc,
                                              height, sink_rate, wp_proportion, last_flying_ms, is_armed, is_flying, rangefinder_state_in_range);
         break;
+#endif
     default:
         // returning TRUE while executing verify_land() will increment the
         // mission index which in many cases will trigger an RTL for end-of-mission
@@ -240,9 +248,11 @@ bool AP_Landing::verify_abort_landing(const Location &prev_WP_loc, Location &nex
     case TYPE_STANDARD_GLIDE_SLOPE:
         type_slope_verify_abort_landing(prev_WP_loc, next_WP_loc, throttle_suppressed);
         break;
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         deepstall.verify_abort_landing(prev_WP_loc, next_WP_loc, throttle_suppressed);
         break;
+#endif
     default:
         break;
     }
@@ -274,7 +284,9 @@ void AP_Landing::adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing
     case TYPE_STANDARD_GLIDE_SLOPE:
         type_slope_adjust_landing_slope_for_rangefinder_bump(rangefinder_state, prev_WP_loc, next_WP_loc, current_loc, wp_distance, target_altitude_offset_cm);
         break;
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
+#endif
     default:
         break;
     }
@@ -287,8 +299,10 @@ bool AP_Landing::send_landing_message(mavlink_channel_t chan) {
     }
 
     switch (type) {
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         return deepstall.send_deepstall_message(chan);
+#endif
     case TYPE_STANDARD_GLIDE_SLOPE:
     default:
         return false;
@@ -304,7 +318,9 @@ bool AP_Landing::is_flaring(void) const
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_is_flaring();
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
+#endif
     default:
         return false;
     }
@@ -324,8 +340,10 @@ bool AP_Landing::is_on_approach(void) const
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_is_on_approach();
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         return deepstall.is_on_approach();
+#endif
     default:
         return false;
     }
@@ -341,8 +359,10 @@ bool AP_Landing::is_ground_steering_allowed(void) const
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_is_on_approach();
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         return false;
+#endif
     default:
         return true;
     }
@@ -359,7 +379,9 @@ bool AP_Landing::is_expecting_impact(void) const
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_is_expecting_impact();
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
+#endif
     default:
         return false;
     }
@@ -372,8 +394,10 @@ bool AP_Landing::override_servos(void) {
     }
 
     switch (type) {
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         return deepstall.override_servos();
+#endif
     case TYPE_STANDARD_GLIDE_SLOPE:
     default:
         return false;
@@ -385,8 +409,10 @@ bool AP_Landing::override_servos(void) {
 const AP_Logger::PID_Info* AP_Landing::get_pid_info(void) const
 {
     switch (type) {
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         return &deepstall.get_pid_info();
+#endif
     case TYPE_STANDARD_GLIDE_SLOPE:
     default:
         return nullptr;
@@ -408,7 +434,9 @@ void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Lo
     case TYPE_STANDARD_GLIDE_SLOPE:
         type_slope_setup_landing_glide_slope(prev_WP_loc, next_WP_loc, current_loc, target_altitude_offset_cm);
         break;
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
+#endif
     default:
         break;
     }
@@ -473,7 +501,9 @@ int32_t AP_Landing::constrain_roll(const int32_t desired_roll_cd, const int32_t
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_constrain_roll(desired_roll_cd, level_roll_limit_cd);
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
+#endif
     default:
         return desired_roll_cd;
     }
@@ -487,8 +517,10 @@ bool AP_Landing::get_target_altitude_location(Location &location)
     }
 
     switch (type) {
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         return deepstall.get_target_altitude_location(location);
+#endif
     case TYPE_STANDARD_GLIDE_SLOPE:
     default:
         return false;
@@ -535,8 +567,10 @@ int32_t AP_Landing::get_target_airspeed_cm(void)
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_get_target_airspeed_cm();
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         return deepstall.get_target_airspeed_cm();
+#endif
     default:
         // don't return the landing airspeed, because if type is invalid we have
         // no postive indication that the land airspeed has been configured or
@@ -557,9 +591,11 @@ bool AP_Landing::request_go_around(void)
     case TYPE_STANDARD_GLIDE_SLOPE:
         success = type_slope_request_go_around();
         break;
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         success = deepstall.request_go_around();
         break;
+#endif
     default:
         break;
     }
@@ -584,8 +620,10 @@ bool AP_Landing::is_complete(void) const
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_is_complete();
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         return false;
+#endif
     default:
         return true;
     }
@@ -597,9 +635,11 @@ void AP_Landing::Log(void) const
     case TYPE_STANDARD_GLIDE_SLOPE:
         type_slope_log();
         break;
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         deepstall.Log();
         break;
+#endif
     default:
         break;
     }
@@ -617,8 +657,10 @@ bool AP_Landing::is_throttle_suppressed(void) const
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_is_throttle_suppressed();
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         return deepstall.is_throttle_suppressed();
+#endif
     default:
         return false;
     }
@@ -640,8 +682,10 @@ bool AP_Landing::is_flying_forward(void) const
     }
 
     switch (type) {
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         return deepstall.is_flying_forward();
+#endif
     case TYPE_STANDARD_GLIDE_SLOPE:
     default:
         return true;
@@ -654,8 +698,10 @@ bool AP_Landing::is_flying_forward(void) const
  */
 bool AP_Landing::terminate(void) {
     switch (type) {
+#if HAL_LANDING_DEEPSTALL_ENABLED
     case TYPE_DEEPSTALL:
         return deepstall.terminate();
+#endif
     case TYPE_STANDARD_GLIDE_SLOPE:
     default:
         return false;

libraries/AP_Landing/AP_Landing.h

@@ -52,7 +52,9 @@ public:
     // NOTE: make sure to update is_type_valid()
     enum Landing_Type {
         TYPE_STANDARD_GLIDE_SLOPE = 0,
+#if HAL_LANDING_DEEPSTALL_ENABLED
         TYPE_DEEPSTALL = 1,
+#endif
 //      TODO: TYPE_PARACHUTE,
 //      TODO: TYPE_HELICAL,
     };
@@ -143,8 +145,10 @@ private:
     disarm_if_autoland_complete_fn_t disarm_if_autoland_complete_fn;
     update_flight_stage_fn_t update_flight_stage_fn;
 
+#if HAL_LANDING_DEEPSTALL_ENABLED
     // support for deepstall landings
     AP_Landing_Deepstall deepstall;
+#endif
 
     AP_Int16 pitch_cd;
     AP_Float flare_alt;

libraries/AP_Landing/AP_Landing_Deepstall.cpp

@@ -18,6 +18,9 @@
  */
 
 #include "AP_Landing.h"
+
+#if HAL_LANDING_DEEPSTALL_ENABLED
+
 #include <GCS_MAVLink/GCS.h>
 #include <AP_HAL/AP_HAL.h>
 #include <SRV_Channel/SRV_Channel.h>
@@ -655,3 +658,5 @@ float AP_Landing_Deepstall::update_steering()
 
     return ds_PID.get_pid(error);
 }
+
+#endif  // HAL_LANDING_DEEPSTALL_ENABLED

libraries/AP_Landing/AP_Landing_Deepstall.h

@@ -22,6 +22,10 @@
 #include <AP_Navigation/AP_Navigation.h>
 #include <PID/PID.h>
 
+#ifndef HAL_LANDING_DEEPSTALL_ENABLED
+#define HAL_LANDING_DEEPSTALL_ENABLED 1
+#endif
+
 class AP_Landing;
 
 /// @class  AP_Landing_Deepstall