Copter: use HAL_PARACHUTE_ENABLED in place of PARACHUTE_ENABLED

ArduPilot · Aug 7, 2024 · 6d480be · 6d480be
1 parent 994e3ed
commit 6d480be
Show file tree

Hide file tree

Showing 9 changed files with 9 additions and 16 deletions.
diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
@@ -4,7 +4,6 @@
 //#define LOGGING_ENABLED       DISABLED            // disable logging to save 11K of flash space
 //#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space
 //#define AUTOTUNE_ENABLED      DISABLED            // disable the auto tune functionality to save 7k of flash
-//#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -521,7 +521,7 @@ class Copter : public AP_Vehicle {
 #endif
 
     // Parachute release
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
     AP_Parachute parachute;
 #endif
 

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
@@ -795,7 +795,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
     case MAV_CMD_NAV_VTOL_TAKEOFF:
         return handle_MAV_CMD_NAV_TAKEOFF(packet);
 
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
     case MAV_CMD_DO_PARACHUTE:
         return handle_MAV_CMD_DO_PARACHUTE(packet);
 #endif
@@ -973,7 +973,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_MISSION_START(const mavlink_comman
 
 
 
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
 MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet)
 {
         // configure or release parachute

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -453,7 +453,7 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
     // @Group: CHUTE_
     // @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
     GOBJECT(parachute, "CHUTE_", AP_Parachute),

diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
@@ -312,7 +312,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
             do_aux_function_change_mode(Mode::Number::FOLLOW, ch_flag);
             break;
 
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
         case AUX_FUNC::PARACHUTE_ENABLE:
             // Parachute enable/disable
             copter.parachute.enabled(ch_flag == AuxSwitchPos::HIGH);

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
@@ -120,12 +120,6 @@
  # define AUTOTUNE_ENABLED  ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Parachute release
-#ifndef PARACHUTE
- # define PARACHUTE HAL_PARACHUTE_ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Nav-Guided - allows external nav computer to control vehicle
 #ifndef AC_NAV_GUIDED

diff --git a/ArduCopter/crash_check.cpp b/ArduCopter/crash_check.cpp
@@ -229,7 +229,7 @@ void Copter::yaw_imbalance_check()
     }
 }
 
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
 
 // Code to detect a crash main ArduCopter code
 #define PARACHUTE_CHECK_TRIGGER_SEC         1       // 1 second of loss of control triggers the parachute
@@ -369,4 +369,4 @@ void Copter::parachute_manual_release()
     parachute_release();
 }
 
-#endif // PARACHUTE == ENABLED
+#endif  // HAL_PARACHUTE_ENABLED
diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp
@@ -22,7 +22,7 @@ void Copter::update_land_and_crash_detectors()
 
     update_land_detector();
 
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
     // check parachute
     parachute_check();
 #endif

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -653,7 +653,7 @@ class ModeAuto : public Mode {
     void do_set_home(const AP_Mission::Mission_Command& cmd);
     void do_roi(const AP_Mission::Mission_Command& cmd);
     void do_mount_control(const AP_Mission::Mission_Command& cmd);
-#if PARACHUTE == ENABLED
+#if HAL_PARACHUTE_ENABLED
     void do_parachute(const AP_Mission::Mission_Command& cmd);
 #endif
 #if AP_WINCH_ENABLED