Copter: add define for disabling beacon

ArduCopter/APM_Config.h

@@ -21,6 +21,7 @@
 //#define FRSKY_TELEM_ENABLED   DISABLED            // disable FRSky telemetry
 //#define ADSB_ENABLED          DISABLED            // disable ADSB support
 //#define PRECISION_LANDING     DISABLED            // disable precision landing using companion computer or IRLock sensor
+//#define BEACON_ENABLED        DISABLED            // disable beacon support
 //#define SPRAYER               DISABLED            // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
 //#define WINCH_ENABLED         DISABLED            // disable winch support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support

ArduCopter/ArduCopter.cpp

@@ -101,7 +101,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if PROXIMITY_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Proximity,         &copter.g2.proximity,        update,         100,  50),
 #endif
+#if BEACON_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Beacon,            &copter.g2.beacon,           update,         400,  50),
+#endif
     SCHED_TASK(update_visual_odom,   400,     50),
     SCHED_TASK(update_altitude,       10,    100),
     SCHED_TASK(run_nav_updates,       50,    100),
@@ -336,7 +338,9 @@ void Copter::ten_hz_logging_loop()
     if (should_log(MASK_LOG_CTUN)) {
         attitude_control->control_monitor_log();
         Log_Write_Proximity();
-        Log_Write_Beacon();
+#if BEACON_ENABLED == ENABLED
+        DataFlash.Log_Write_Beacon(g2.beacon);
+#endif
     }
 #if FRAME_CONFIG == HELI_FRAME
     Log_Write_Heli();

ArduCopter/Copter.h

@@ -797,7 +797,6 @@ private:
     void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
     void Log_Write_Throw(ThrowModeStage stage, float velocity, float velocity_z, float accel, float ef_accel_z, bool throw_detect, bool attitude_ok, bool height_ok, bool position_ok);
     void Log_Write_Proximity();
-    void Log_Write_Beacon();
     void Log_Write_Vehicle_Startup_Messages();
     void log_init(void);
 
@@ -883,7 +882,6 @@ private:
     void init_proximity();
     void update_proximity();
     void update_sensor_status_flags(void);
-    void init_beacon();
     void init_visual_odom();
     void update_visual_odom();
     void winch_init();

ArduCopter/Log.cpp

@@ -579,16 +579,6 @@ void Copter::Log_Write_Proximity()
 #endif
 }
 
-// Write beacon position and distances
-void Copter::Log_Write_Beacon()
-{
-    // exit immediately if feature is disabled
-    if (!g2.beacon.enabled()) {
-        return;
-    }
-    DataFlash.Log_Write_Beacon(g2.beacon);
-}
-
 // type and unit information can be found in
 // libraries/DataFlash/Logstructure.h; search for "log_Units" for
 // units and "Format characters" for field type information
@@ -675,7 +665,6 @@ void Copter::Log_Write_Precland() {}
 void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
 void Copter::Log_Write_Throw(ThrowModeStage stage, float velocity, float velocity_z, float accel, float ef_accel_z, bool throw_detect, bool attitude_ok, bool height_ok, bool pos_ok) {}
 void Copter::Log_Write_Proximity() {}
-void Copter::Log_Write_Beacon() {}
 void Copter::Log_Write_Vehicle_Startup_Messages() {}
 
 #if FRAME_CONFIG == HELI_FRAME

ArduCopter/Parameters.cpp

@@ -874,7 +874,9 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 
     // @Group: BCN
     // @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
+#if BEACON_ENABLED == ENABLED
     AP_SUBGROUPINFO(beacon, "BCN", 14, ParametersG2, AP_Beacon),
+#endif
 
 #if PROXIMITY_ENABLED == ENABLED
     // @Group: PRX
@@ -994,7 +996,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
   constructor for g2 object
  */
 ParametersG2::ParametersG2(void)
-    : beacon(copter.serial_manager)
+    : temp_calibration(copter.barometer, copter.ins)
+#if BEACON_ENABLED == ENABLED
+    , beacon(copter.serial_manager)
+#endif
 #if PROXIMITY_ENABLED == ENABLED
     , proximity(copter.serial_manager)
 #endif

ArduCopter/Parameters.h

@@ -512,8 +512,10 @@ public:
     // ground effect compensation enable/disable
     AP_Int8 gndeffect_comp_enabled;
 
+#if BEACON_ENABLED == ENABLED
     // beacon (non-GPS positioning) library
     AP_Beacon beacon;
+#endif
 
 #if VISUAL_ODOMETRY_ENABLED == ENABLED
     // Visual Odometry camera

ArduCopter/config.h

@@ -333,6 +333,12 @@
 # define MODE_SPORT_ENABLED ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Beacon support - support for local positioning systems
+#ifndef BEACON_ENABLED
+# define BEACON_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION
 //////////////////////////////////////////////////////////////////////////////

ArduCopter/sensors.cpp

@@ -467,12 +467,6 @@ void Copter::update_sensor_status_flags(void)
 #endif
 }
 
-// init beacons used for non-gps position estimates
-void Copter::init_beacon()
-{
-    g2.beacon.init();
-}
-
 // init visual odometry sensor
 void Copter::init_visual_odom()
 {

ArduCopter/system.cpp

@@ -153,8 +153,10 @@ void Copter::init_ardupilot()
      */
     hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
 
+#if BEACON_ENABLED == ENABLED
     // give AHRS the range beacon sensor
     ahrs.set_beacon(&g2.beacon);
+#endif
 
     // Do GPS init
     gps.set_log_gps_bit(MASK_LOG_GPS);
@@ -222,8 +224,10 @@ void Copter::init_ardupilot()
     // init proximity sensor
     init_proximity();
 
+#if BEACON_ENABLED == ENABLED
     // init beacons used for non-gps position estimation
-    init_beacon();
+    g2.beacon.init();
+#endif
 
     // init visual odometry
     init_visual_odom();