Plane: use #if ADVANCED_FAILSAFE == ENABLED just like Rover and Copter

ArduPlane/ArduPlane.cpp

@@ -48,7 +48,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(read_airspeed,          10,    100),
     SCHED_TASK(update_alt,             10,    200),
     SCHED_TASK(adjust_altitude_target, 10,    200),
+#if ADVANCED_FAILSAFE == ENABLED
     SCHED_TASK(afs_fs_check,           10,    100),
+#endif
     SCHED_TASK_CLASS(GCS,            (GCS*)&plane._gcs,       update_receive,   300,  500),
     SCHED_TASK_CLASS(GCS,            (GCS*)&plane._gcs,       update_send,      300,  500),
     SCHED_TASK_CLASS(AP_ServoRelayEvents, &plane.ServoRelayEvents, update_events,          50,  150),
@@ -244,11 +246,13 @@ void Plane::update_logging2(void)
 /*
   check for AFS failsafe check
  */
+#if ADVANCED_FAILSAFE == ENABLED
 void Plane::afs_fs_check(void)
 {
     // perform AFS failsafe checks
     afs.check(failsafe.last_heartbeat_ms, geofence_breached(), failsafe.AFS_last_valid_rc_ms);
 }
+#endif
 
 #if HAL_WITH_IO_MCU
 #include <AP_IOMCU/AP_IOMCU.h>

ArduPlane/GCS_Mavlink.cpp

@@ -1407,7 +1407,11 @@ void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, mavlink_
 
 AP_AdvancedFailsafe *GCS_MAVLINK_Plane::get_advanced_failsafe() const
 {
+#if ADVANCED_FAILSAFE == ENABLED
     return &plane.afs;
+#else
+    return nullptr;
+#endif
 }
 
 /*

ArduPlane/Parameters.cpp

@@ -1034,9 +1034,11 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(sitl, "SIM_", SITL::SITL),
 #endif
 
+#if ADVANCED_FAILSAFE == ENABLED
     // @Group: AFS_
     // @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
     GOBJECT(afs,  "AFS_", AP_AdvancedFailsafe),
+#endif
 
 #if OPTFLOW == ENABLED
     // @Group: FLOW

ArduPlane/Plane.h

@@ -104,7 +104,9 @@
 // Configuration
 #include "config.h"
 
+#if ADVANCED_FAILSAFE == ENABLED
 #include "afs_plane.h"
+#endif
 
 // Local modules
 #include "defines.h"
@@ -671,7 +673,9 @@ private:
     AP_Avoidance_Plane avoidance_adsb{ahrs, adsb};
 
     // Outback Challenge Failsafe Support
+#if ADVANCED_FAILSAFE == ENABLED
     AP_AdvancedFailsafe_Plane afs {mission, gps};
+#endif
 
     /*
       meta data to support counting the number of circles in a loiter
@@ -960,7 +964,9 @@ private:
     void update_GPS_10Hz(void);
     void update_compass(void);
     void update_alt(void);
+#if ADVANCED_FAILSAFE == ENABLED
     void afs_fs_check(void);
+#endif
     void compass_cal_update();
     void update_optical_flow(void);
     void one_second_loop(void);

ArduPlane/afs_plane.cpp

@@ -4,6 +4,7 @@
 
 #include "Plane.h"
 
+#if ADVANCED_FAILSAFE == ENABLED
 // Constructor
 AP_AdvancedFailsafe_Plane::AP_AdvancedFailsafe_Plane(AP_Mission &_mission, const AP_GPS &_gps) :
     AP_AdvancedFailsafe(_mission, _gps)
@@ -91,3 +92,4 @@ AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Plane::afs_mode(void)
     }
     return AP_AdvancedFailsafe::AFS_STABILIZED;
 }
+#endif // ADVANCED_FAILSAFE

ArduPlane/afs_plane.h

@@ -18,6 +18,7 @@
   advanced failsafe support for plane
  */
 
+#if ADVANCED_FAILSAFE == ENABLED
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
 
 /*
@@ -39,3 +40,5 @@ protected:
     enum control_mode afs_mode(void);
 };
 
+#endif // ADVANCED_FAILSAFE
+

ArduPlane/config.h

@@ -58,6 +58,15 @@
 #define FRSKY_TELEM_ENABLED ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Advanced Failsafe support
+//
+
+#ifndef ADVANCED_FAILSAFE
+ # define ADVANCED_FAILSAFE ENABLED
+#endif
+
+
 //////////////////////////////////////////////////////////////////////////////
 // Optical flow sensor support
 //

ArduPlane/events.cpp

@@ -169,9 +169,13 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
             break;
 
         case Failsafe_Action_Terminate:
+#if ADVANCED_FAILSAFE == ENABLED
             char battery_type_str[17];
             snprintf(battery_type_str, 17, "%s battery", type_str);
             afs.gcs_terminate(true, battery_type_str);
+#else
+            disarm_motors();
+#endif
             break;
 
         case Failsafe_Action_None:

ArduPlane/failsafe.cpp

@@ -41,11 +41,13 @@ void Plane::failsafe_check(void)
     if (in_failsafe && tnow - last_timestamp > 20000) {
         last_timestamp = tnow;
 
+#if ADVANCED_FAILSAFE == ENABLED
         if (in_calibration) {
             // tell the failsafe system that we are calibrating
             // sensors, so don't trigger failsafe
             afs.heartbeat();
         }
+#endif
 
         if (RC_Channels::get_valid_channel_count() < 5) {
             // we don't have any RC input to pass through
@@ -75,10 +77,12 @@ void Plane::failsafe_check(void)
         // this is to allow the failsafe module to deliberately crash 
         // the plane. Only used in extreme circumstances to meet the
         // OBC rules
+#if ADVANCED_FAILSAFE == ENABLED
         if (afs.should_crash_vehicle()) {
             afs.terminate_vehicle();
             return;
         }
+#endif
 
         // setup secondary output channels that do have
         // corresponding input channels

ArduPlane/quadplane.cpp

@@ -1586,11 +1586,13 @@ void QuadPlane::update(void)
         ahrs_view->set_pitch_trim(_last_ahrs_trim_pitch);
     }
 
+#if ADVANCED_FAILSAFE == ENABLED
     if (plane.afs.should_crash_vehicle()) {
         motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
         motors->output();
         return;
     }
+#endif
     
     if (motor_test.running) {
         motor_test_output();
@@ -1771,7 +1773,11 @@ void QuadPlane::motors_output(bool run_rate_controller)
         attitude_control->rate_controller_run();
     }
 
+#if ADVANCED_FAILSAFE == ENABLED
     if (!hal.util->get_soft_armed() || plane.afs.should_crash_vehicle() || SRV_Channels::get_emergency_stop()) {
+#else
+    if (!hal.util->get_soft_armed() || SRV_Channels::get_emergency_stop()) {
+#endif
         motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
         motors->output();
         return;

ArduPlane/servos.cpp

@@ -609,10 +609,12 @@ void Plane::servos_twin_engine_mix(void)
     float rud_gain = float(plane.g2.rudd_dt_gain) / 100;
     rudder_dt = rud_gain * SRV_Channels::get_output_scaled(SRV_Channel::k_rudder) / float(SERVO_MAX);
 
+#if ADVANCED_FAILSAFE == ENABLED
     if (afs.should_crash_vehicle()) {
         // when in AFS failsafe force rudder input for differential thrust to zero
         rudder_dt = 0;
     }
+#endif
 
     float throttle_left, throttle_right;
 
@@ -666,10 +668,12 @@ void Plane::set_servos(void)
     // this is to allow the failsafe module to deliberately crash 
     // the plane. Only used in extreme circumstances to meet the
     // OBC rules
+#if ADVANCED_FAILSAFE == ENABLED
     if (afs.should_crash_vehicle()) {
         afs.terminate_vehicle();
         return;
     }
+#endif
 
     // do any transition updates for quadplane
     quadplane.update();