From 45ba94343d10156ae5e0dc50e7520e8678d6038f Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Tue, 3 Nov 2015 11:46:30 -0200 Subject: [PATCH] APMrover2: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 --- APMrover2/Parameters.cpp | 4 ---- APMrover2/Parameters.h | 20 ++++++------------ APMrover2/config.h | 44 ++-------------------------------------- APMrover2/system.cpp | 20 ------------------ 4 files changed, 8 insertions(+), 80 deletions(-) diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp index a7298a12a3490..e3a8b6498eaca 100644 --- a/APMrover2/Parameters.cpp +++ b/APMrover2/Parameters.cpp @@ -197,9 +197,7 @@ const AP_Param::Info Rover::var_info[] = { // @Group: RC9_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp GGROUP(rc_9, "RC9_", RC_Channel_aux), -#endif -#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN // @Group: RC10_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp GGROUP(rc_10, "RC10_", RC_Channel_aux), @@ -207,9 +205,7 @@ const AP_Param::Info Rover::var_info[] = { // @Group: RC11_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp GGROUP(rc_11, "RC11_", RC_Channel_aux), -#endif -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN // @Group: RC12_ // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp GGROUP(rc_12, "RC12_", RC_Channel_aux), diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h index 56d03fb2ebbb8..742d5daece174 100644 --- a/APMrover2/Parameters.h +++ b/APMrover2/Parameters.h @@ -245,12 +245,8 @@ class Parameters { RC_Channel_aux rc_8; #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN RC_Channel_aux rc_9; -#endif -#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN RC_Channel_aux rc_10; RC_Channel_aux rc_11; -#endif -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN RC_Channel_aux rc_12; RC_Channel_aux rc_13; RC_Channel_aux rc_14; @@ -309,16 +305,12 @@ class Parameters { rc_7(CH_7), rc_8(CH_8), #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN - rc_9 (CH_9), -#endif -#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN - rc_10 (CH_10), - rc_11 (CH_11), -#endif -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN - rc_12 (CH_12), - rc_13 (CH_13), - rc_14 (CH_14), + rc_9(CH_9), + rc_10(CH_10), + rc_11(CH_11), + rc_12(CH_12), + rc_13(CH_13), + rc_14(CH_14), #endif // PID controller initial P initial I initial D initial imax diff --git a/APMrover2/config.h b/APMrover2/config.h index 1ae7e383721bd..ff81250debded 100644 --- a/APMrover2/config.h +++ b/APMrover2/config.h @@ -32,18 +32,6 @@ /// change in your local copy of APM_Config.h. /// -#if defined( __AVR_ATmega1280__ ) - // default choices for a 1280. We can't fit everything in, so we - // make some popular choices by default - #define LOGGING_ENABLED DISABLED - #ifndef MOUNT - # define MOUNT DISABLED - #endif - #ifndef CAMERA - # define CAMERA DISABLED - #endif -#endif - // Just so that it's completely clear... #define ENABLED 1 #define DISABLED 0 @@ -58,13 +46,7 @@ #define HIL_MODE HIL_MODE_DISABLED #endif -#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 -# define BATTERY_PIN_1 0 -# define CURRENT_PIN_1 1 -#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 -# define BATTERY_PIN_1 1 -# define CURRENT_PIN_1 2 -#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL +#if CONFIG_HAL_BOARD == HAL_BOARD_SITL # define BATTERY_PIN_1 1 # define CURRENT_PIN_1 2 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 @@ -98,11 +80,7 @@ // #ifndef FRSKY_TELEM_ENABLED -#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 - # define FRSKY_TELEM_ENABLED DISABLED -#else - # define FRSKY_TELEM_ENABLED ENABLED -#endif +#define FRSKY_TELEM_ENABLED ENABLED #endif @@ -286,25 +264,7 @@ # define LOGGING_ENABLED ENABLED #endif -#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 -#define DEFAULT_LOG_BITMASK \ - MASK_LOG_ATTITUDE_MED | \ - MASK_LOG_GPS | \ - MASK_LOG_PM | \ - MASK_LOG_CTUN | \ - MASK_LOG_NTUN | \ - MASK_LOG_MODE | \ - MASK_LOG_CMD | \ - MASK_LOG_SONAR | \ - MASK_LOG_COMPASS | \ - MASK_LOG_CURRENT | \ - MASK_LOG_STEERING | \ - MASK_LOG_CAMERA -#else -// other systems have plenty of space for full logs #define DEFAULT_LOG_BITMASK 0xffff -#endif - ////////////////////////////////////////////////////////////////////////////// diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp index 434f9125ae2f2..ac39ecf9f9c48 100644 --- a/APMrover2/system.cpp +++ b/APMrover2/system.cpp @@ -74,10 +74,6 @@ static void failsafe_check_static() rover.failsafe_check(); } -#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 - AP_ADC_ADS7844 apm1_adc; -#endif - void Rover::init_ardupilot() { // initialise console serial port @@ -147,10 +143,6 @@ void Rover::init_ardupilot() // more than 5ms remaining in your call to hal.scheduler->delay hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5); -#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 - apm1_adc.Init(); // APM ADC library initialization -#endif - if (g.compass_enabled==true) { if (!compass.init()|| !compass.read()) { cliSerial->println("Compass initialisation failed!"); @@ -431,18 +423,6 @@ void Rover::check_usb_mux(void) // the user has switched to/from the telemetry port usb_connected = usb_check; - -#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 - // the APM2 has a MUX setup where the first serial port switches - // between USB and a TTL serial connection. When on USB we use - // SERIAL0_BAUD, but when connected as a TTL serial port we run it - // at SERIAL1_BAUD. - if (usb_connected) { - serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_Console, 0); - } else { - serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink, 0); - } -#endif }