Merge pull request #7617 from breadoven/abo_remove_NAV_define

Remove USE_NAV define

src/main/blackbox/blackbox.c

@@ -104,8 +104,8 @@ PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
     .rate_num = SETTING_BLACKBOX_RATE_NUM_DEFAULT,
     .rate_denom = SETTING_BLACKBOX_RATE_DENOM_DEFAULT,
     .invertedCardDetection = BLACKBOX_INVERTED_CARD_DETECTION,
-    .includeFlags = BLACKBOX_FEATURE_NAV_PID | BLACKBOX_FEATURE_NAV_POS | 
+    .includeFlags = BLACKBOX_FEATURE_NAV_PID | BLACKBOX_FEATURE_NAV_POS |
-        BLACKBOX_FEATURE_MAG | BLACKBOX_FEATURE_ACC | BLACKBOX_FEATURE_ATTITUDE | 
+        BLACKBOX_FEATURE_MAG | BLACKBOX_FEATURE_ACC | BLACKBOX_FEATURE_ATTITUDE |
         BLACKBOX_FEATURE_RC_DATA | BLACKBOX_FEATURE_RC_COMMAND | BLACKBOX_FEATURE_MOTORS,
 );
 
@@ -653,18 +653,11 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
 #endif
 
     case FLIGHT_LOG_FIELD_CONDITION_FIXED_WING_NAV:
-#ifdef USE_NAV
+
         return STATE(FIXED_WING_LEGACY) && blackboxIncludeFlag(BLACKBOX_FEATURE_NAV_PID);
-#else
-        return false;
-#endif
 
     case FLIGHT_LOG_FIELD_CONDITION_MC_NAV:
-#ifdef USE_NAV
         return !STATE(FIXED_WING_LEGACY) && blackboxIncludeFlag(BLACKBOX_FEATURE_NAV_PID);
-#else
-        return false;
-#endif
 
     case FLIGHT_LOG_FIELD_CONDITION_RSSI:
         // Assumes blackboxStart() is called after rxInit(), which should be true since
@@ -855,7 +848,7 @@ static void writeIntraframe(void)
     }
 
     blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
-    
+
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
         blackboxWriteSigned16VBArray(blackboxCurrent->accADC, XYZ_AXIS_COUNT);
     }
@@ -1111,7 +1104,7 @@ static void writeInterframe(void)
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ATTITUDE)) {
         blackboxWriteArrayUsingAveragePredictor16(offsetof(blackboxMainState_t, attitude), XYZ_AXIS_COUNT);
     }
-    
+
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
         blackboxWriteArrayUsingAveragePredictor32(offsetof(blackboxMainState_t, debug), DEBUG32_VALUE_COUNT);
     }
@@ -1266,7 +1259,7 @@ static void loadSlowState(blackboxSlowState_t *slow)
 #endif
 
 #ifdef USE_ESC_SENSOR
-    escSensorData_t * escSensor = escSensorGetData(); 
+    escSensorData_t * escSensor = escSensorGetData();
     slow->escRPM = escSensor->rpm;
     slow->escTemperature = escSensor->temperature;
 #endif
@@ -1468,9 +1461,7 @@ static void loadMainState(timeUs_t currentTimeUs)
 
     blackboxCurrent->time = currentTimeUs;
 
-#ifdef USE_NAV
     const navigationPIDControllers_t *nav_pids = getNavigationPIDControllers();
-#endif
 
     for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
         blackboxCurrent->axisPID_Setpoint[i] = axisPID_Setpoint[i];
@@ -1483,7 +1474,6 @@ static void loadMainState(timeUs_t currentTimeUs)
 #ifdef USE_MAG
         blackboxCurrent->magADC[i] = mag.magADC[i];
 #endif
-#ifdef USE_NAV
         if (!STATE(FIXED_WING_LEGACY)) {
             // log requested velocity in cm/s
             blackboxCurrent->mcPosAxisP[i] = lrintf(nav_pids->pos[i].output_constrained);
@@ -1495,10 +1485,8 @@ static void loadMainState(timeUs_t currentTimeUs)
             blackboxCurrent->mcVelAxisPID[3][i] = lrintf(nav_pids->vel[i].feedForward);
             blackboxCurrent->mcVelAxisOutput[i] = lrintf(nav_pids->vel[i].output_constrained);
         }
-#endif
     }
 
-#ifdef USE_NAV
     if (STATE(FIXED_WING_LEGACY)) {
 
         // log requested pitch in decidegrees
@@ -1519,7 +1507,6 @@ static void loadMainState(timeUs_t currentTimeUs)
         blackboxCurrent->mcSurfacePID[2] = lrintf(nav_pids->surface.derivative / 10);
         blackboxCurrent->mcSurfacePIDOutput = lrintf(nav_pids->surface.output_constrained / 10);
     }
-#endif
 
     for (int i = 0; i < 4; i++) {
         blackboxCurrent->rcData[i] = rxGetChannelValue(i);

src/main/cms/cms_menu_builtin.c

@@ -101,9 +101,7 @@ static const OSD_Entry menuFeaturesEntries[] =
     OSD_LABEL_ENTRY("--- FEATURES ---"),
     OSD_SUBMENU_ENTRY("BLACKBOX", &cmsx_menuBlackbox),
     OSD_SUBMENU_ENTRY("MIXER & SERVOS", &cmsx_menuMixerServo),
-#if defined(USE_NAV)
     OSD_SUBMENU_ENTRY("NAVIGATION", &cmsx_menuNavigation),
-#endif
 #if defined(USE_VTX_CONTROL)
     OSD_SUBMENU_ENTRY("VTX", &cmsx_menuVtxControl),
 #endif // VTX_CONTROL

src/main/cms/cms_menu_navigation.c

@@ -26,8 +26,6 @@
 
 #include "platform.h"
 
-#if defined(USE_NAV)
-
 #include <stdlib.h>
 #include <string.h>
 
@@ -234,5 +232,3 @@ const CMS_Menu cmsx_menuNavigation = {
     .onGlobalExit = NULL,
     .entries = cmsx_menuNavigationEntries
 };
-
- #endif

src/main/drivers/irlock.c

@@ -30,7 +30,7 @@
 #define IRLOCK_FRAME_SYNC ((uint32_t)(IRLOCK_OBJECT_SYNC | (IRLOCK_OBJECT_SYNC << 16)))
 
 
-#if defined(USE_NAV) && defined(USE_IRLOCK)
+#if defined(USE_IRLOCK)
 
 static bool irlockHealthy = false;
 

src/main/drivers/irlock.h

@@ -20,7 +20,7 @@
 #include "drivers/sensor.h"
 #include "drivers/io_types.h"
 
-#if defined(USE_NAV) && defined(USE_IRLOCK)
+#if defined(USE_IRLOCK)
 
 #define IRLOCK_RES_X 320
 #define IRLOCK_RES_Y 200

src/main/fc/cli.c

@@ -1351,7 +1351,7 @@ static void cliSafeHomes(char *cmdline)
 }
 
 #endif
-#if defined(USE_NAV) && defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
+#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
 static void printWaypoints(uint8_t dumpMask, const navWaypoint_t *navWaypoint, const navWaypoint_t *defaultNavWaypoint)
 {
     cliPrintLinef("#wp %d %svalid", posControl.waypointCount, posControl.waypointListValid ? "" : "in"); //int8_t bool
@@ -3691,7 +3691,7 @@ static void printConfig(const char *cmdline, bool doDiff)
         printTempSensor(dumpMask, tempSensorConfig_CopyArray, tempSensorConfig(0));
 #endif
 
-#if defined(USE_NAV) && defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
+#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
         cliPrintHashLine("wp");
         printWaypoints(dumpMask, posControl.waypointList, nonVolatileWaypointList(0));
 #endif
@@ -3932,7 +3932,7 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("temp_sensor", "change temp sensor settings", NULL, cliTempSensor),
 #endif
     CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
-#if defined(USE_NAV) && defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
+#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) && defined(NAV_NON_VOLATILE_WAYPOINT_CLI)
     CLI_COMMAND_DEF("wp", "waypoint list", NULL, cliWaypoints),
 #endif
 #ifdef USE_OSD

src/main/fc/config.c

@@ -144,13 +144,11 @@ PG_RESET_TEMPLATE(adcChannelConfig_t, adcChannelConfig,
     }
 );
 
-#ifdef USE_NAV
 void validateNavConfig(void)
 {
     // Make sure minAlt is not more than maxAlt, maxAlt cannot be set lower than 500.
     navConfigMutable()->general.land_slowdown_minalt = MIN(navConfig()->general.land_slowdown_minalt, navConfig()->general.land_slowdown_maxalt - 100);
 }
-#endif
 
 
 // Stubs to handle target-specific configs
@@ -232,10 +230,8 @@ void validateAndFixConfig(void)
         pgResetCopy(serialConfigMutable(), PG_SERIAL_CONFIG);
     }
 
-#if defined(USE_NAV)
     // Ensure sane values of navConfig settings
     validateNavConfig();
-#endif
 
     // Limitations of different protocols
 #if !defined(USE_DSHOT)
@@ -352,9 +348,7 @@ static void activateConfig(void)
 
     pidInit();
 
-#ifdef USE_NAV
     navigationUsePIDs();
-#endif
 }
 
 void readEEPROM(void)

src/main/fc/fc_core.c

@@ -158,11 +158,9 @@ bool areSensorsCalibrating(void)
     }
 #endif
 
-#ifdef USE_NAV
     if (!navIsCalibrationComplete()) {
         return true;
     }
-#endif
 
     if (!accIsCalibrationComplete() && sensors(SENSOR_ACC)) {
         return true;
@@ -248,7 +246,6 @@ static void updateArmingStatus(void)
             DISABLE_ARMING_FLAG(ARMING_DISABLED_SYSTEM_OVERLOADED);
         }
 
-#if defined(USE_NAV)
         /* CHECK: Navigation safety */
         if (navigationIsBlockingArming(NULL) != NAV_ARMING_BLOCKER_NONE) {
             ENABLE_ARMING_FLAG(ARMING_DISABLED_NAVIGATION_UNSAFE);
@@ -256,7 +253,6 @@ static void updateArmingStatus(void)
         else {
             DISABLE_ARMING_FLAG(ARMING_DISABLED_NAVIGATION_UNSAFE);
         }
-#endif
 
 #if defined(USE_MAG)
         /* CHECK: */
@@ -552,7 +548,6 @@ void tryArm(void)
             return;
         }
 
-#if defined(USE_NAV)
         // If nav_extra_arming_safety was bypassed we always
         // allow bypassing it even without the sticks set
         // in the correct position to allow re-arming quickly
@@ -562,7 +557,6 @@ void tryArm(void)
         if (usedBypass) {
             ENABLE_STATE(NAV_EXTRA_ARMING_SAFETY_BYPASSED);
         }
-#endif
 
         lastDisarmReason = DISARM_NONE;
 
@@ -591,15 +585,11 @@ void tryArm(void)
 #endif
 
         //beep to indicate arming
-#ifdef USE_NAV
         if (navigationPositionEstimateIsHealthy()) {
             beeper(BEEPER_ARMING_GPS_FIX);
         } else {
             beeper(BEEPER_ARMING);
         }
-#else
-        beeper(BEEPER_ARMING);
-#endif
 
         statsOnArm();
 
@@ -865,11 +855,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     cycleTime = getTaskDeltaTime(TASK_SELF);
     dT = (float)cycleTime * 0.000001f;
 
-#if defined(USE_NAV)
     if (ARMING_FLAG(ARMED) && (!STATE(FIXED_WING_LEGACY) || !isNavLaunchEnabled() || (isNavLaunchEnabled() && fixedWingLaunchStatus() >= FW_LAUNCH_DETECTED))) {
-#else
-    if (ARMING_FLAG(ARMED)) {
-#endif
         flightTime += cycleTime;
         armTime += cycleTime;
         updateAccExtremes();
@@ -889,18 +875,14 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
         rcInterpolationApply(isRXDataNew);
     }
 
-#if defined(USE_NAV)
     if (isRXDataNew) {
         updateWaypointsAndNavigationMode();
     }
-#endif
 
     isRXDataNew = false;
 
-#if defined(USE_NAV)
     updatePositionEstimator();
     applyWaypointNavigationAndAltitudeHold();
-#endif
 
     // Apply throttle tilt compensation
     if (!STATE(FIXED_WING_LEGACY)) {

src/main/fc/fc_init.c

@@ -581,9 +581,7 @@ void init(void)
 #endif
 
 
-#ifdef USE_NAV
     navigationInit();
-#endif
 
 #ifdef USE_LED_STRIP
     ledStripInit();

src/main/fc/fc_msp.c

@@ -607,13 +607,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_ALTITUDE:
-#if defined(USE_NAV)
         sbufWriteU32(dst, lrintf(getEstimatedActualPosition(Z)));
         sbufWriteU16(dst, lrintf(getEstimatedActualVelocity(Z)));
-#else
-        sbufWriteU32(dst, 0);
-        sbufWriteU16(dst, 0);
-#endif
 #if defined(USE_BARO)
         sbufWriteU32(dst, baroGetLatestAltitude());
 #else
@@ -923,7 +918,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, GPS_directionToHome);
         sbufWriteU8(dst, gpsSol.flags.gpsHeartbeat ? 1 : 0);
         break;
-#ifdef USE_NAV
     case MSP_NAV_STATUS:
         sbufWriteU8(dst, NAV_Status.mode);
         sbufWriteU8(dst, NAV_Status.state);
@@ -933,7 +927,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         //sbufWriteU16(dst,  (int16_t)(target_bearing/100));
         sbufWriteU16(dst, getHeadingHoldTarget());
         break;
-#endif
+
 
     case MSP_GPSSVINFO:
         /* Compatibility stub - return zero SVs */
@@ -1315,7 +1309,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 #endif
         break;
 
-#ifdef USE_NAV
     case MSP_NAV_POSHOLD:
         sbufWriteU8(dst, navConfig()->general.flags.user_control_mode);
         sbufWriteU16(dst, navConfig()->general.max_auto_speed);
@@ -1353,7 +1346,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU8(dst, currentBatteryProfile->nav.fw.pitch_to_throttle);
         sbufWriteU16(dst, navConfig()->fw.loiter_radius);
         break;
-#endif
 
     case MSP_CALIBRATION_DATA:
         sbufWriteU8(dst, accGetCalibrationAxisFlags());
@@ -1393,7 +1385,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_POSITION_ESTIMATION_CONFIG:
-    #ifdef USE_NAV
 
         sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100); //     inav_w_z_baro_p float as value * 100
         sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_p * 100);  // 2   inav_w_z_gps_p  float as value * 100
@@ -1403,15 +1394,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU8(dst, gpsConfigMutable()->gpsMinSats);                // 1
         sbufWriteU8(dst, positionEstimationConfig()->use_gps_velned);    // 1   inav_use_gps_velned ON/OFF
 
-    #else
-        sbufWriteU16(dst, 0);
-        sbufWriteU16(dst, 0);
-        sbufWriteU16(dst, 0);
-        sbufWriteU16(dst, 0);
-        sbufWriteU16(dst, 0);
-        sbufWriteU8(dst, 0);
-        sbufWriteU8(dst, 0);
-    #endif
         break;
 
     case MSP_REBOOT:
@@ -1423,17 +1405,10 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_WP_GETINFO:
-#ifdef USE_NAV
         sbufWriteU8(dst, 0);                        // Reserved for waypoint capabilities
         sbufWriteU8(dst, NAV_MAX_WAYPOINTS);        // Maximum number of waypoints supported
         sbufWriteU8(dst, isWaypointListValid());    // Is current mission valid
         sbufWriteU8(dst, getWaypointCount());       // Number of waypoints in current mission
-#else
-        sbufWriteU8(dst, 0);
-        sbufWriteU8(dst, 0);
-        sbufWriteU8(dst, 0);
-        sbufWriteU8(dst, 0);
-#endif
         break;
 
     case MSP_TX_INFO:
@@ -1622,7 +1597,6 @@ static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
     }
 }
 
-#ifdef USE_NAV
 static void mspFcWaypointOutCommand(sbuf_t *dst, sbuf_t *src)
 {
     const uint8_t msp_wp_no = sbufReadU8(src);    // get the wp number
@@ -1638,7 +1612,6 @@ static void mspFcWaypointOutCommand(sbuf_t *dst, sbuf_t *src)
     sbufWriteU16(dst, msp_wp.p3);     // P3
     sbufWriteU8(dst, msp_wp.flag);    // flags
 }
-#endif
 
 #ifdef USE_FLASHFS
 static void mspFcDataFlashReadCommand(sbuf_t *dst, sbuf_t *src)
@@ -1728,9 +1701,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
                 pidBankMutable()->pid[i].D = sbufReadU8(src);
             }
             schedulePidGainsUpdate();
-#if defined(USE_NAV)
             navigationUsePIDs();
-#endif
         } else
             return MSP_RESULT_ERROR;
         break;
@@ -1744,9 +1715,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
                 pidBankMutable()->pid[i].FF = sbufReadU8(src);
             }
             schedulePidGainsUpdate();
-#if defined(USE_NAV)
             navigationUsePIDs();
-#endif
         } else
             return MSP_RESULT_ERROR;
         break;
@@ -2284,7 +2253,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         break;
 
-#ifdef USE_NAV
     case MSP_SET_NAV_POSHOLD:
         if (dataSize >= 13) {
             navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
@@ -2331,7 +2299,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         } else
             return MSP_RESULT_ERROR;
         break;
-#endif
 
     case MSP_SET_CALIBRATION_DATA:
         if (dataSize >= 18) {
@@ -2373,7 +2340,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         break;
 
-#ifdef USE_NAV
     case MSP_SET_POSITION_ESTIMATION_CONFIG:
         if (dataSize >= 12) {
             positionEstimationConfigMutable()->w_z_baro_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
@@ -2386,7 +2352,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         } else
             return MSP_RESULT_ERROR;
         break;
-#endif
 
     case MSP_RESET_CONF:
         if (!ARMING_FLAG(ARMED)) {
@@ -2576,7 +2541,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         break;
 #endif
 
-#ifdef USE_NAV
     case MSP_SET_WP:
         if (dataSize >= 21) {
             const uint8_t msp_wp_no = sbufReadU8(src);     // get the waypoint number
@@ -2606,7 +2570,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         } else
             return MSP_RESULT_ERROR;
         break;
-#endif
 
     case MSP_SET_FEATURE:
         if (dataSize >= 4) {
@@ -3314,12 +3277,10 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
 {
     switch (cmdMSP) {
 
-#if defined(USE_NAV)
     case MSP_WP:
         mspFcWaypointOutCommand(dst, src);
         *ret = MSP_RESULT_ACK;
         break;
-#endif
 
 #if defined(USE_FLASHFS)
     case MSP_DATAFLASH_READ:

src/main/fc/fc_tasks.c

@@ -225,7 +225,7 @@ void taskUpdateRangefinder(timeUs_t currentTimeUs)
 }
 #endif
 
-#if defined(USE_NAV) && defined(USE_IRLOCK)
+#if defined(USE_IRLOCK)
 void taskUpdateIrlock(timeUs_t currentTimeUs)
 {
     UNUSED(currentTimeUs);

src/main/fc/rc_controls.c

@@ -251,7 +251,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
     }
 
 
-#if defined(USE_NAV) && defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
+#if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE)
     // Save waypoint list
     if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_LO) {
         const bool success = saveNonVolatileWaypointList();

src/main/fc/rc_modes.c

@@ -39,9 +39,7 @@
 #include "rx/rx.h"
 
 static uint8_t specifiedConditionCountPerMode[CHECKBOX_ITEM_COUNT];
-#ifdef USE_NAV
 static bool isUsingNAVModes = false;
-#endif
 
 boxBitmask_t rcModeActivationMask; // one bit per mode defined in boxId_e
 
@@ -84,7 +82,7 @@ static void processAirmodeMultirotor(void) {
              */
             DISABLE_STATE(AIRMODE_ACTIVE);
         } else if (
-            !STATE(AIRMODE_ACTIVE) && 
+            !STATE(AIRMODE_ACTIVE) &&
             rcCommand[THROTTLE] > rcControlsConfig()->airmodeThrottleThreshold &&
             (feature(FEATURE_AIRMODE) || IS_RC_MODE_ACTIVE(BOXAIRMODE))
         ) {
@@ -119,13 +117,10 @@ void processAirmode(void) {
 
 }
 
-#if defined(USE_NAV)
 bool isUsingNavigationModes(void)
 {
     return isUsingNAVModes;
 }
-#endif
-
 
 bool IS_RC_MODE_ACTIVE(boxId_e boxId)
 {
@@ -208,13 +203,11 @@ void updateUsedModeActivationConditionFlags(void)
         }
     }
 
-#ifdef USE_NAV
     isUsingNAVModes = isModeActivationConditionPresent(BOXNAVPOSHOLD) ||
                         isModeActivationConditionPresent(BOXNAVRTH) ||
                         isModeActivationConditionPresent(BOXNAVCOURSEHOLD) ||
                         isModeActivationConditionPresent(BOXNAVCRUISE) ||
                         isModeActivationConditionPresent(BOXNAVWP);
-#endif
 }
 
 void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm)

src/main/fc/settings.yaml

@@ -1885,7 +1885,6 @@ groups:
         description: "Direction of loitering: center point on right wing (clockwise - default), or center point on left wing (counterclockwise). If equal YAW then can be changed in flight using a yaw stick."
         default_value: "RIGHT"
         field: loiter_direction
-        condition: USE_NAV
         table: direction
       - name: fw_reference_airspeed
         description: "Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present."
@@ -1954,21 +1953,18 @@ groups:
       - name: nav_mc_pos_z_p
         description: "P gain of altitude PID controller (Multirotor)"
         field: bank_mc.pid[PID_POS_Z].P
-        condition: USE_NAV
         min: 0
         max: 255
         default_value: 50
       - name: nav_mc_vel_z_p
         description: "P gain of velocity PID controller"
         field: bank_mc.pid[PID_VEL_Z].P
-        condition: USE_NAV
         min: 0
         max: 255
         default_value: 100
       - name: nav_mc_vel_z_i
         description: "I gain of velocity PID controller"
         field: bank_mc.pid[PID_VEL_Z].I
-        condition: USE_NAV
         min: 0
         max: 255
         default_value: 50
@@ -1976,41 +1972,35 @@ groups:
         description: "D gain of velocity PID controller"
         default_value: 10
         field: bank_mc.pid[PID_VEL_Z].D
-        condition: USE_NAV
         min: 0
         max: 255
         default_value: 10
       - name: nav_mc_pos_xy_p
         description: "Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity"
         field: bank_mc.pid[PID_POS_XY].P
-        condition: USE_NAV
         min: 0
         max: 255
         default_value: 65
       - name: nav_mc_vel_xy_p
         description: "P gain of Position-Rate (Velocity to Acceleration) PID controller. Higher P means stronger response when position error occurs. Too much P might cause \"nervous\" behavior and oscillations"
         field: bank_mc.pid[PID_VEL_XY].P
-        condition: USE_NAV
         min: 0
         max: 255
         default_value: 40
       - name: nav_mc_vel_xy_i
         description: "I gain of Position-Rate (Velocity to Acceleration) PID controller. Used for drift compensation (caused by wind for example). Higher I means stronger response to drift. Too much I gain might cause target overshot"
         field: bank_mc.pid[PID_VEL_XY].I
-        condition: USE_NAV
         min: 0
         max: 255
         default_value: 15
       - name: nav_mc_vel_xy_d
         description: "D gain of Position-Rate (Velocity to Acceleration) PID controller. It can damp P and I. Increasing D might help when drone overshoots target."
         field: bank_mc.pid[PID_VEL_XY].D
-        condition: USE_NAV
         min: 0
         max: 255
         default_value: 100
       - name: nav_mc_vel_xy_ff
         field: bank_mc.pid[PID_VEL_XY].FF
-        condition: USE_NAV
         min: 0
         max: 255
         default_value: 40
@@ -2018,7 +2008,6 @@ groups:
         description: "P gain of Heading Hold controller (Multirotor)"
         default_value: 60
         field: bank_mc.pid[PID_HEADING].P
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_mc_vel_xy_dterm_lpf_hz
@@ -2048,70 +2037,60 @@ groups:
         description: "P gain of altitude PID controller (Fixedwing)"
         default_value: 40
         field: bank_fw.pid[PID_POS_Z].P
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_fw_pos_z_i
         description: "I gain of altitude PID controller (Fixedwing)"
         default_value: 5
         field: bank_fw.pid[PID_POS_Z].I
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_fw_pos_z_d
         description: "D gain of altitude PID controller (Fixedwing)"
         default_value: 10
         field: bank_fw.pid[PID_POS_Z].D
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_fw_pos_xy_p
         description: "P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH"
         default_value: 75
         field: bank_fw.pid[PID_POS_XY].P
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_fw_pos_xy_i
         description: "I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero"
         default_value: 5
         field: bank_fw.pid[PID_POS_XY].I
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_fw_pos_xy_d
         description: "D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero"
         default_value: 8
         field: bank_fw.pid[PID_POS_XY].D
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_fw_heading_p
         description: "P gain of Heading Hold controller (Fixedwing)"
         default_value: 60
         field: bank_fw.pid[PID_HEADING].P
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_fw_pos_hdg_p
         description: "P gain of heading PID controller. (Fixedwing, rovers, boats)"
         default_value: 30
         field: bank_fw.pid[PID_POS_HEADING].P
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_fw_pos_hdg_i
         description: "I gain of heading trajectory PID controller. (Fixedwing, rovers, boats)"
         default_value: 2
         field: bank_fw.pid[PID_POS_HEADING].I
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_fw_pos_hdg_d
         description: "D gain of heading trajectory PID controller. (Fixedwing, rovers, boats)"
         default_value: 0
         field: bank_fw.pid[PID_POS_HEADING].D
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_fw_pos_hdg_pidsum_limit
@@ -2244,7 +2223,6 @@ groups:
 
   - name: PG_POSITION_ESTIMATION_CONFIG
     type: positionEstimationConfig_t
-    condition: USE_NAV
     members:
       - name: inav_auto_mag_decl
         description: "Automatic setting of magnetic declination based on GPS position. When used manual magnetic declination is ignored."
@@ -2376,7 +2354,6 @@ groups:
   - name: PG_NAV_CONFIG
     type: navConfig_t
     headers: ["navigation/navigation.h"]
-    condition: USE_NAV
     members:
       - name: nav_disarm_on_landing
         description: "If set to ON, iNav disarms the FC after landing"
@@ -2669,14 +2646,12 @@ groups:
         description: "Used for stoping distance calculation. Stop position is computed as _speed_ * _nav_mc_pos_deceleration_time_ from the place where sticks are released. Braking mode overrides this setting"
         default_value: 120
         field: mc.posDecelerationTime
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_mc_pos_expo
         description: "Expo for PosHold control"
         default_value: 10
         field: mc.posResponseExpo
-        condition: USE_NAV
         min: 0
         max: 255
       - name: nav_mc_wp_slowdown

src/main/flight/failsafe.c

@@ -87,9 +87,6 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
 typedef enum {
     FAILSAFE_CHANNEL_HOLD,      // Hold last known good value
     FAILSAFE_CHANNEL_NEUTRAL,   // RPY = zero, THR = zero
-#if !defined(USE_NAV)
-    FAILSAFE_CHANNEL_AUTO,      // Defined by failsafe configured values
-#endif
 } failsafeChannelBehavior_e;
 
 typedef struct {
@@ -101,7 +98,6 @@ typedef struct {
 static const failsafeProcedureLogic_t failsafeProcedureLogic[] = {
     [FAILSAFE_PROCEDURE_AUTO_LANDING] = {
             .forceAngleMode = true,
-#if defined(USE_NAV)
             .bypassNavigation = false,
             .channelBehavior = {
                 FAILSAFE_CHANNEL_NEUTRAL,       // ROLL
@@ -109,15 +105,6 @@ static const failsafeProcedureLogic_t failsafeProcedureLogic[] = {
                 FAILSAFE_CHANNEL_NEUTRAL,       // YAW
                 FAILSAFE_CHANNEL_HOLD           // THROTTLE
             }
-#else
-            .bypassNavigation = true,
-            .channelBehavior = {
-                FAILSAFE_CHANNEL_AUTO,          // ROLL
-                FAILSAFE_CHANNEL_AUTO,          // PITCH
-                FAILSAFE_CHANNEL_AUTO,          // YAW
-                FAILSAFE_CHANNEL_AUTO           // THROTTLE
-            }
-#endif
     },
 
     [FAILSAFE_PROCEDURE_DROP_IT] = {
@@ -184,7 +171,6 @@ void failsafeInit(void)
     failsafeState.suspended = false;
 }
 
-#ifdef USE_NAV
 bool failsafeBypassNavigation(void)
 {
     return failsafeState.active &&
@@ -197,7 +183,6 @@ bool failsafeMayRequireNavigationMode(void)
     return (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_RTH) ||
            (failsafeConfig()->failsafe_min_distance_procedure == FAILSAFE_PROCEDURE_RTH);
 }
-#endif
 
 failsafePhase_e failsafePhase(void)
 {
@@ -228,16 +213,10 @@ bool failsafeRequiresAngleMode(void)
 
 bool failsafeRequiresMotorStop(void)
 {
-#if defined(USE_NAV)
     return failsafeState.active &&
            failsafeState.activeProcedure == FAILSAFE_PROCEDURE_AUTO_LANDING &&
            posControl.flags.estAltStatus < EST_USABLE &&
            currentBatteryProfile->failsafe_throttle < getThrottleIdleValue();
-#else
-    return failsafeState.active &&
-           failsafeState.activeProcedure == FAILSAFE_PROCEDURE_AUTO_LANDING &&
-           currentBatteryProfile->failsafe_throttle < getThrottleIdleValue();
-#endif
 }
 
 void failsafeStartMonitoring(void)
@@ -277,22 +256,6 @@ void failsafeUpdateRcCommandValues(void)
 
 void failsafeApplyControlInput(void)
 {
-#if !defined(USE_NAV)
-    // Prepare FAILSAFE_CHANNEL_AUTO values for rcCommand
-    int16_t autoRcCommand[4];
-    if (STATE(FIXED_WING_LEGACY)) {
-        autoRcCommand[ROLL] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_roll_angle, pidProfile()->max_angle_inclination[FD_ROLL]);
-        autoRcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]);
-        autoRcCommand[YAW] = -pidRateToRcCommand(failsafeConfig()->failsafe_fw_yaw_rate, currentControlRateProfile->stabilized.rates[FD_YAW]);
-        autoRcCommand[THROTTLE] = currentBatteryProfile->failsafe_throttle;
-    }
-    else {
-        for (int i = 0; i < 3; i++) {
-            autoRcCommand[i] = 0;
-        }
-        autoRcCommand[THROTTLE] = currentBatteryProfile->failsafe_throttle;
-    }
-#endif
     // Apply channel values
     for (int idx = 0; idx < 4; idx++) {
         switch (failsafeProcedureLogic[failsafeState.activeProcedure].channelBehavior[idx]) {
@@ -313,11 +276,6 @@ void failsafeApplyControlInput(void)
                         break;
                 }
                 break;
-#if !defined(USE_NAV)
-            case FAILSAFE_CHANNEL_AUTO:
-                rcCommand[idx] = autoRcCommand[idx];
-                break;
-#endif
         }
     }
 }
@@ -461,9 +419,7 @@ void failsafeUpdateState(void)
                         case FAILSAFE_PROCEDURE_AUTO_LANDING:
                             // Use Emergency Landing if Nav defined (otherwise stabilize and set Throttle to specified level).
                             failsafeActivate(FAILSAFE_LANDING);
-#if defined(USE_NAV)
                             activateForcedEmergLanding();
-#endif
                             break;
 
                         case FAILSAFE_PROCEDURE_DROP_IT:
@@ -472,13 +428,11 @@ void failsafeUpdateState(void)
                             failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS; // require 3 seconds of valid rxData
                             break;
 
-#if defined(USE_NAV)
                         case FAILSAFE_PROCEDURE_RTH:
                             // Proceed to handling & monitoring RTH navigation
                             failsafeActivate(FAILSAFE_RETURN_TO_HOME);
                             activateForcedRTH();
                             break;
-#endif
                         case FAILSAFE_PROCEDURE_NONE:
                         default:
                             // Do nothing procedure
@@ -497,7 +451,6 @@ void failsafeUpdateState(void)
                 }
                 break;
 
-#if defined(USE_NAV)
             case FAILSAFE_RETURN_TO_HOME:
                 if (receivingRxDataAndNotFailsafeMode && sticksAreMoving) {
                     abortForcedRTH();
@@ -533,20 +486,16 @@ void failsafeUpdateState(void)
                     }
                 }
                 break;
-#endif
 
             case FAILSAFE_LANDING:
                 if (receivingRxDataAndNotFailsafeMode && sticksAreMoving) {
-#if defined(USE_NAV)
                     abortForcedEmergLanding();
-#endif
                     failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
                     reprocessState = true;
                 } else {
                     if (armed) {
                         beeperMode = BEEPER_RX_LOST_LANDING;
                     }
-#if defined(USE_NAV)
                     bool emergLanded = false;
                     switch (getStateOfForcedEmergLanding()) {
                         case EMERG_LAND_IN_PROGRESS:
@@ -566,9 +515,6 @@ void failsafeUpdateState(void)
                             break;
                     }
                     if (emergLanded || failsafeShouldHaveCausedLandingByNow() || !armed) {
-#else
-                    if (failsafeShouldHaveCausedLandingByNow() || !armed) {
-#endif
                         failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_30_SECONDS; // require 30 seconds of valid rxData
                         failsafeState.phase = FAILSAFE_LANDED;
                         reprocessState = true;

src/main/flight/failsafe.h

@@ -70,7 +70,6 @@ typedef enum {
      * Note that this phase is only used when
      * failsafe_procedure = NONE.
      */
-#if defined(USE_NAV)
     FAILSAFE_RETURN_TO_HOME,
     /* Failsafe is executing RTH. This phase is the first one
      * enabled when failsafe_procedure = RTH if an RTH is
@@ -79,10 +78,10 @@ typedef enum {
      * sensors are not working at the moment). If RTH can't
      * be started, this phase will transition to FAILSAFE_LANDING.
      */
-#endif
     FAILSAFE_LANDING,
-    /* Pergorms NAV Emergency Landing if USE_NAV defined.
+    /* Performs NAV Emergency Landing using controlled descent rate if
-     * Otherwise Failsafe mode performs a simplified landing procedure.
+     * altitude sensors available.
+     * Otherwise Emergency Landing performs a simplified landing procedure.
      * This is done by setting throttle and roll/pitch/yaw controls
      * to a pre-configured values that will allow aircraft
      * to reach ground in somewhat safe "controlled crash" way.
@@ -123,7 +122,6 @@ typedef enum {
     FAILSAFE_PROCEDURE_NONE
 } failsafeProcedure_e;
 
-#if defined(USE_NAV)
 typedef enum {
     RTH_IDLE = 0,               // RTH is waiting
     RTH_IN_PROGRESS,            // RTH is active
@@ -135,7 +133,6 @@ typedef enum {
     EMERG_LAND_IN_PROGRESS,     // Emergency landing is active
     EMERG_LAND_HAS_LANDED       // Emergency landing is active and has landed.
 } emergLandState_e;
-#endif
 
 typedef struct failsafeState_s {
     int16_t events;

src/main/flight/pid.c

@@ -739,7 +739,7 @@ static float dTermProcess(pidState_t *pidState, float dT) {
         newDTerm = 0;
     } else {
         float delta = pidState->previousRateGyro - pidState->gyroRate;
-        
+
         delta = dTermLpfFilterApplyFn((filter_t *) &pidState->dtermLpfState, delta);
         delta = dTermLpf2FilterApplyFn((filter_t *) &pidState->dtermLpf2State, delta);
 
@@ -892,7 +892,6 @@ static uint8_t getHeadingHoldState(void)
         return HEADING_HOLD_DISABLED;
     }
 
-#if defined(USE_NAV)
     int navHeadingState = navigationGetHeadingControlState();
     // NAV will prevent MAG_MODE from activating, but require heading control
     if (navHeadingState != NAV_HEADING_CONTROL_NONE) {
@@ -901,9 +900,7 @@ static uint8_t getHeadingHoldState(void)
             return HEADING_HOLD_ENABLED;
         }
     }
-    else
+    else if (ABS(rcCommand[YAW]) == 0 && FLIGHT_MODE(HEADING_MODE)) {
-#endif
-    if (ABS(rcCommand[YAW]) == 0 && FLIGHT_MODE(HEADING_MODE)) {
         return HEADING_HOLD_ENABLED;
     } else {
         return HEADING_HOLD_UPDATE_HEADING;
@@ -1209,7 +1206,7 @@ void pidInit(void)
     for (uint8_t axis = FD_ROLL; axis <= FD_YAW; axis++) {
 
     #ifdef USE_D_BOOST
-        // Rate * 10 * 10. First 10 is to convert stick to DPS. Second 10 is to convert target to acceleration. 
+        // Rate * 10 * 10. First 10 is to convert stick to DPS. Second 10 is to convert target to acceleration.
         // We assume, max acceleration is when pilot deflects the stick fully in 100ms
         pidState[axis].dBoostTargetAcceleration = currentControlRateProfile->stabilized.rates[axis] * 10 * 10;
     #endif

src/main/io/dashboard.c

@@ -264,11 +264,9 @@ static void updateFailsafeStatus(void)
         case FAILSAFE_RX_LOSS_IDLE:
             failsafeIndicator = 'I';
             break;
-#if defined(USE_NAV)
         case FAILSAFE_RETURN_TO_HOME:
             failsafeIndicator = 'H';
             break;
-#endif
         case FAILSAFE_LANDING:
             failsafeIndicator = 'l';
             break;

src/main/io/osd.c

@@ -757,7 +757,6 @@ static const char * osdArmingDisabledReasonMessage(void)
         case ARMING_DISABLED_SYSTEM_OVERLOADED:
             return OSD_MESSAGE_STR(OSD_MSG_SYS_OVERLOADED);
         case ARMING_DISABLED_NAVIGATION_UNSAFE:
-#if defined(USE_NAV)
             // Check the exact reason
             switch (navigationIsBlockingArming(NULL)) {
                 char buf[6];
@@ -774,7 +773,6 @@ static const char * osdArmingDisabledReasonMessage(void)
                 case NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR:
                     return OSD_MESSAGE_STR(OSD_MSG_JUMP_WP_MISCONFIG);
             }
-#endif
             break;
         case ARMING_DISABLED_COMPASS_NOT_CALIBRATED:
             return OSD_MESSAGE_STR(OSD_MSG_MAG_NOT_CAL);
@@ -850,11 +848,9 @@ static const char * osdFailsafePhaseMessage(void)
 {
     // See failsafe.h for each phase explanation
     switch (failsafePhase()) {
-#ifdef USE_NAV
         case FAILSAFE_RETURN_TO_HOME:
             // XXX: Keep this in sync with OSD_FLYMODE.
             return OSD_MESSAGE_STR(OSD_MSG_RTH_FS);
-#endif
         case FAILSAFE_LANDING:
             // This should be considered an emergengy landing
             return OSD_MESSAGE_STR(OSD_MSG_EMERG_LANDING_FS);
@@ -1074,24 +1070,12 @@ static void osdFormatRpm(char *buff, uint32_t rpm)
 
 int32_t osdGetAltitude(void)
 {
-#if defined(USE_NAV)
     return getEstimatedActualPosition(Z);
-#elif defined(USE_BARO)
-    return baro.alt;
-#else
-    return 0;
-#endif
 }
 
 static inline int32_t osdGetAltitudeMsl(void)
 {
-#if defined(USE_NAV)
     return getEstimatedActualPosition(Z)+GPS_home.alt;
-#elif defined(USE_BARO)
-    return baro.alt+GPS_home.alt;
-#else
-    return 0;
-#endif
 }
 
 static bool osdIsHeadingValid(void)
@@ -2975,7 +2959,6 @@ static bool osdDrawSingleElement(uint8_t item)
         osdDisplayAdjustableDecimalValue(elemPosX, elemPosY, "CTL S", 0, navConfig()->fw.control_smoothness, 1, 0, ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS);
         return true;
 
-#if defined(USE_NAV)
     case OSD_MISSION:
         {
             if (IS_RC_MODE_ACTIVE(BOXPLANWPMISSION)) {
@@ -3022,7 +3005,6 @@ static bool osdDrawSingleElement(uint8_t item)
             displayWrite(osdDisplayPort, elemPosX, elemPosY, buff);
             return true;
         }
-#endif  // USE_NAV
 
 #ifdef USE_POWER_LIMITS
     case OSD_PLIMIT_REMAINING_BURST_TIME:
@@ -3870,7 +3852,6 @@ static void osdShowArmed(void)
         displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(systemConfig() -> name)) / 2, y, craftNameBuf );
         y += 1;
     }
-#if defined(USE_NAV)
     if (posControl.waypointListValid && posControl.waypointCount > 0) {
 #ifdef USE_MULTI_MISSION
         tfp_sprintf(buf, "MISSION %u/%u (%u WP)", posControl.loadedMultiMissionIndex, posControl.multiMissionCount, posControl.waypointCount);
@@ -3879,7 +3860,6 @@ static void osdShowArmed(void)
         displayWrite(osdDisplayPort, 7, y, "*MISSION LOADED*");
 #endif
     }
-#endif
     y += 1;
 
 #if defined(USE_GPS)
@@ -4272,11 +4252,9 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                     if (FLIGHT_MODE(SOARING_MODE)) {
                         messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_NAV_SOARING);
                     }
-#if defined(USE_NAV)
                     if (posControl.flags.wpMissionPlannerActive) {
                         messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_MISSION_PLANNER);
                     }
-#endif
                 }
             }
         } else if (ARMING_FLAG(ARMING_DISABLED_ALL_FLAGS)) {

src/main/io/osd_dji_hd.c

@@ -1475,10 +1475,6 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
                     pidBankMutable()->pid[djiPidIndexMap[i]].D = sbufReadU8(src);
                 }
                 schedulePidGainsUpdate();
-#if defined(USE_NAV)
-                // This is currently unnecessary, DJI HD doesn't set any NAV PIDs
-                //navigationUsePIDs();
-#endif
             }
             else {
                 reply->result = MSP_RESULT_ERROR;

src/main/navigation/navigation.c

@@ -90,8 +90,6 @@ PG_REGISTER_ARRAY(navSafeHome_t, MAX_SAFE_HOMES, safeHomeConfig, PG_SAFE_HOME_CO
 
 #endif
 
-#if defined(USE_NAV)
-
 // waypoint 254, 255 are special waypoints
 STATIC_ASSERT(NAV_MAX_WAYPOINTS < 254, NAV_MAX_WAYPOINTS_exceeded_allowable_range);
 
@@ -3987,70 +3985,3 @@ bool isAdjustingHeading(void) {
 int32_t getCruiseHeadingAdjustment(void) {
     return wrap_18000(posControl.cruise.yaw - posControl.cruise.previousYaw);
 }
-
-#else // NAV
-
-#ifdef USE_GPS
-/* Fallback if navigation is not compiled in - handle GPS home coordinates */
-static float GPS_scaleLonDown;
-static float GPS_totalTravelDistance = 0;
-
-static void GPS_distance_cm_bearing(int32_t currentLat1, int32_t currentLon1, int32_t destinationLat2, int32_t destinationLon2, uint32_t *dist, int32_t *bearing)
-{
-    const float dLat = destinationLat2 - currentLat1; // difference of latitude in 1/10 000 000 degrees
-    const float dLon = (float)(destinationLon2 - currentLon1) * GPS_scaleLonDown;
-
-    *dist = fast_fsqrtf(sq(dLat) + sq(dLon)) * DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR;
-
-    *bearing = 9000.0f + RADIANS_TO_CENTIDEGREES(atan2_approx(-dLat, dLon));      // Convert the output radians to 100xdeg
-
-    if (*bearing < 0)
-        *bearing += 36000;
-}
-
-void onNewGPSData(void)
-{
-    static timeMs_t previousTimeMs = 0;
-    const timeMs_t currentTimeMs = millis();
-    const timeDelta_t timeDeltaMs = currentTimeMs - previousTimeMs;
-    previousTimeMs = currentTimeMs;
-
-    if (!(sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5))
-        return;
-
-    if (ARMING_FLAG(ARMED)) {
-        /* Update home distance and direction */
-        if (STATE(GPS_FIX_HOME)) {
-            uint32_t dist;
-            int32_t dir;
-            GPS_distance_cm_bearing(gpsSol.llh.lat, gpsSol.llh.lon, GPS_home.lat, GPS_home.lon, &dist, &dir);
-            GPS_distanceToHome = dist / 100;
-            GPS_directionToHome = lrintf(dir / 100.0f);
-        } else {
-            GPS_distanceToHome = 0;
-            GPS_directionToHome = 0;
-        }
-
-        /* Update trip distance */
-        GPS_totalTravelDistance += gpsSol.groundSpeed * MS2S(timeDeltaMs);
-    }
-    else {
-        // Set home position to current GPS coordinates
-        ENABLE_STATE(GPS_FIX_HOME);
-        GPS_home.lat = gpsSol.llh.lat;
-        GPS_home.lon = gpsSol.llh.lon;
-        GPS_home.alt = gpsSol.llh.alt;
-        GPS_distanceToHome = 0;
-        GPS_directionToHome = 0;
-        GPS_scaleLonDown = cos_approx((fabsf((float)gpsSol.llh.lat) / 10000000.0f) * 0.0174532925f);
-    }
-}
-
-int32_t getTotalTravelDistance(void)
-{
-    return lrintf(GPS_totalTravelDistance);
-}
-
-#endif
-
-#endif  // NAV

src/main/navigation/navigation.h

@@ -68,8 +68,6 @@ bool findNearestSafeHome(void);                  // Find nearest safehome
 
 #endif // defined(USE_SAFE_HOME)
 
-#if defined(USE_NAV)
-
 #ifndef NAV_MAX_WAYPOINTS
 #define NAV_MAX_WAYPOINTS 15
 #endif
@@ -601,15 +599,3 @@ extern uint16_t navFlags;
 extern uint16_t navEPH;
 extern uint16_t navEPV;
 extern int16_t navAccNEU[3];
-
-#else
-
-#define navigationRequiresAngleMode() (0)
-#define navigationGetHeadingControlState() (0)
-#define navigationRequiresThrottleTiltCompensation() (0)
-#define getEstimatedActualVelocity(axis) (0)
-#define navigationIsControllingThrottle() (0)
-#define navigationRTHAllowsLanding() (0)
-#define navigationGetHomeHeading() (0)
-
-#endif

src/main/navigation/navigation_fixedwing.c

@@ -21,8 +21,6 @@
 
 #include "platform.h"
 
-#if defined(USE_NAV)
-
 #include "build/build_config.h"
 #include "build/debug.h"
 
@@ -699,5 +697,3 @@ int32_t navigationGetHeadingError(void)
 {
     return navHeadingError;
 }
-
-#endif  // NAV

src/main/navigation/navigation_fw_launch.c

@@ -22,8 +22,6 @@
 
 #include "platform.h"
 
-#if defined(USE_NAV)
-
 #include "build/build_config.h"
 #include "build/debug.h"
 
@@ -540,5 +538,3 @@ const char * fixedWingLaunchStateMessage(void)
             return NULL;
     }
 }
-
-#endif

src/main/navigation/navigation_geo.c

@@ -21,8 +21,6 @@
 
 #include "platform.h"
 
-#if defined(USE_NAV)
-
 #include "build/build_config.h"
 #include "build/debug.h"
 
@@ -169,6 +167,3 @@ bool geoConvertLocalToGeodetic(gpsLocation_t *llh, const gpsOrigin_t * origin, c
     llh->alt += lrintf(pos->z);
     return origin->valid;
 }
-
-
-#endif  // NAV

src/main/navigation/navigation_multicopter.c

@@ -21,8 +21,6 @@
 
 #include "platform.h"
 
-#if defined(USE_NAV)
-
 #include "build/build_config.h"
 #include "build/debug.h"
 
@@ -819,4 +817,3 @@ void applyMulticopterNavigationController(navigationFSMStateFlags_t navStateFlag
             applyMulticopterHeadingController();
     }
 }
-#endif  // NAV

src/main/navigation/navigation_pos_estimator.c

@@ -22,8 +22,6 @@
 
 #include "platform.h"
 
-#if defined(USE_NAV)
-
 #include "build/build_config.h"
 #include "build/debug.h"
 
@@ -216,7 +214,7 @@ void onNewGPSData(void)
         if(STATE(GPS_FIX_HOME)){
             static bool magDeclinationSet = false;
             if (positionEstimationConfig()->automatic_mag_declination && !magDeclinationSet) {
-                const float declination = geoCalculateMagDeclination(&newLLH); 
+                const float declination = geoCalculateMagDeclination(&newLLH);
                 imuSetMagneticDeclination(declination);
 #ifdef USE_SECONDARY_IMU
                 secondaryImuSetMagneticDeclination(declination);
@@ -861,5 +859,3 @@ bool navIsCalibrationComplete(void)
 {
     return gravityCalibrationComplete();
 }
-
-#endif

src/main/navigation/navigation_pos_estimator_agl.c

@@ -32,8 +32,6 @@
 #include "build/build_config.h"
 #include "build/debug.h"
 
-#if defined(USE_NAV)
-
 #include "navigation/navigation.h"
 #include "navigation/navigation_private.h"
 #include "navigation/navigation_pos_estimator_private.h"
@@ -202,5 +200,3 @@ void estimationCalculateAGL(estimationContext_t * ctx)
     posEstimator.est.aglQual = SURFACE_QUAL_LOW;
 #endif
 }
-
-#endif  // NAV

src/main/navigation/navigation_pos_estimator_flow.c

@@ -32,8 +32,6 @@
 #include "build/build_config.h"
 #include "build/debug.h"
 
-#if defined(USE_NAV)
-
 #include "navigation/navigation.h"
 #include "navigation/navigation_private.h"
 #include "navigation/navigation_pos_estimator_private.h"
@@ -123,6 +121,3 @@ bool estimationCalculateCorrection_XY_FLOW(estimationContext_t * ctx)
     return false;
 #endif
 }
-
-
-#endif  // NAV

src/main/navigation/navigation_private.h

@@ -19,8 +19,6 @@
 
 #define DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR    1.113195f  // MagicEarthNumber from APM
 
-#if defined(USE_NAV)
-
 #include "common/axis.h"
 #include "common/maths.h"
 #include "common/filter.h"
@@ -479,5 +477,3 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs);
  * Rover specific functions
  */
 void applyRoverBoatNavigationController(navigationFSMStateFlags_t navStateFlags, timeUs_t currentTimeUs);
-
-#endif

src/main/navigation/navigation_rover_boat.c

@@ -26,8 +26,6 @@
 
 FILE_COMPILE_FOR_SIZE
 
-#ifdef USE_NAV
-
 #include "build/debug.h"
 
 #include "common/utils.h"
@@ -148,5 +146,3 @@ void applyRoverBoatNavigationController(navigationFSMStateFlags_t navStateFlags,
         applyRoverBoatPitchRollThrottleController(navStateFlags, currentTimeUs);
     }
 }
-
-#endif

src/main/rx/eleres.c

@@ -349,11 +349,7 @@ static void telemetryRX(void)
         if (sensors(SENSOR_GPS)) {
             uint16_t gpsspeed =  (gpsSol.groundSpeed*9L)/250L;
             int16_t course = (gpsSol.groundCourse/10 + 360)%360;
-#ifdef USE_NAV
             int32_t alt = getEstimatedActualPosition(Z);
-#else
-            int32_t alt = baro.BaroAlt;
-#endif
             uint16_t tim = 0;
 
             rfTxBuffer[0] = 0x47;

src/main/sensors/irlock.c

@@ -44,7 +44,7 @@
 
 #define IRLOCK_TIMEOUT 100
 
-#if defined(USE_NAV) && defined(USE_IRLOCK)
+#if defined(USE_IRLOCK)
 
 enum {
     DEBUG_IRLOCK_DETECTED,

src/main/sensors/irlock.h

@@ -17,7 +17,7 @@
 
 #pragma once
 
-#if defined(USE_NAV) && defined(USE_IRLOCK)
+#if defined(USE_IRLOCK)
 
 void irlockInit(void);
 bool irlockHasBeenDetected(void);

src/main/target/ANYFCF7/target.h

@@ -141,7 +141,6 @@
 
 #define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO)
 
-#define USE_NAV
 #define NAV_GPS_GLITCH_DETECTION
 
 #define USE_ADC

src/main/target/FISHDRONEF4/target.h

@@ -150,7 +150,6 @@
 // #define USE_RANGEFINDER_SRF10
 
 // *************** NAV *****************************
-#define USE_NAV
 #define NAV_GPS_GLITCH_DETECTION
 #define NAV_MAX_WAYPOINTS       60
 

src/main/target/common.h

@@ -66,7 +66,6 @@
 #define USE_GPS
 #define USE_GPS_PROTO_UBLOX
 #define USE_GPS_PROTO_MSP
-#define USE_NAV
 #define USE_TELEMETRY
 #define USE_TELEMETRY_LTM
 #define USE_TELEMETRY_FRSKY

src/main/telemetry/jetiexbus.c

@@ -260,12 +260,10 @@ void initJetiExBusTelemetry(void)
         bitArraySet(&exSensorEnabled, EX_POWER);
         bitArraySet(&exSensorEnabled, EX_CAPACITY);
     }
-#ifdef USE_NAV
     if (sensors(SENSOR_BARO)) {
         bitArraySet(&exSensorEnabled, EX_ALTITUDE);
         bitArraySet(&exSensorEnabled, EX_VARIO);
     }
-#endif
     if (sensors(SENSOR_ACC)) {
         bitArraySet(&exSensorEnabled, EX_ROLL_ANGLE);
         bitArraySet(&exSensorEnabled, EX_PITCH_ANGLE);
@@ -360,11 +358,9 @@ int32_t getSensorValue(uint8_t sensor)
         return attitude.values.yaw;
         break;
 
-#ifdef USE_NAV
     case EX_VARIO:
         return getEstimatedActualVelocity(Z);
         break;
-#endif
 
 #ifdef USE_GPS
     case EX_GPS_SATS:

src/main/telemetry/ltm.c

@@ -130,11 +130,7 @@ void ltm_gframe(sbuf_t *dst)
         ltm_gs = gpsSol.groundSpeed / 100;
     }
 
-#if defined(USE_NAV)
     ltm_alt = getEstimatedActualPosition(Z); // cm
-#else
-    ltm_alt = sensors(SENSOR_GPS) ? gpsSol.llh.alt : 0; // cm
-#endif
 
     sbufWriteU8(dst, 'G');
     sbufWriteU32(dst, ltm_lat);
@@ -251,7 +247,6 @@ void ltm_xframe(sbuf_t *dst)
     ltm_x_counter++; // overflow is OK
 }
 
-#if defined(USE_NAV)
 /** OSD additional data frame, ~4 Hz rate, navigation system status
  */
 void ltm_nframe(sbuf_t *dst)
@@ -264,7 +259,6 @@ void ltm_nframe(sbuf_t *dst)
     sbufWriteU8(dst, NAV_Status.error);
     sbufWriteU8(dst, NAV_Status.flags);
 }
-#endif
 
 #define LTM_BIT_AFRAME  (1 << 0)
 #define LTM_BIT_GFRAME  (1 << 1)
@@ -367,13 +361,11 @@ static void process_ltm(void)
         ltm_finalise(dst);
     }
 
-#if defined(USE_NAV)
     if (current_schedule & LTM_BIT_NFRAME) {
         ltm_initialise_packet(dst);
         ltm_nframe(dst);
         ltm_finalise(dst);
     }
-#endif
 
     ltm_scheduler = (ltm_scheduler + 1) % 10;
 }
@@ -491,11 +483,9 @@ int getLtmFrame(uint8_t *frame, ltm_frame_e ltmFrameType)
     case LTM_XFRAME:
         ltm_xframe(sbuf);
         break;
-#if defined(USE_NAV)
     case LTM_NFRAME:
         ltm_nframe(sbuf);
         break;
-#endif
     }
     sbufSwitchToReader(sbuf, ltmFrame);
     const int frameSize = sbufBytesRemaining(sbuf);

src/main/telemetry/ltm.h

@@ -28,9 +28,7 @@ typedef enum {
     LTM_OFRAME, // Origin Frame
     LTM_XFRAME, // Extended information data frame
 #endif
-#if defined(USE_NAV)
     LTM_NFRAME, // Navigation Frame (inav extension)
-#endif
     LTM_FRAME_COUNT
 } ltm_frame_e;
 

src/main/telemetry/mavlink.c

@@ -580,11 +580,7 @@ void mavlinkSendPosition(timeUs_t currentTimeUs)
         // alt Altitude in 1E3 meters (millimeters) above MSL
         gpsSol.llh.alt * 10,
         // relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
-#if defined(USE_NAV)
         getEstimatedActualPosition(Z) * 10,
-#else
-        gpsSol.llh.alt * 10,
-#endif
         // [cm/s] Ground X Speed (Latitude, positive north)
         getEstimatedActualVelocity(X),
         // [cm/s] Ground Y Speed (Longitude, positive east)
@@ -654,16 +650,8 @@ void mavlinkSendHUDAndHeartbeat(void)
 #endif
 
     // select best source for altitude
-#if defined(USE_NAV)
     mavAltitude = getEstimatedActualPosition(Z) / 100.0f;
     mavClimbRate = getEstimatedActualVelocity(Z) / 100.0f;
-#elif defined(USE_GPS)
-    if (sensors(SENSOR_GPS)) {
-        // No surface or baro, just display altitude above MLS
-        mavAltitude = gpsSol.llh.alt;
-    }
-#endif
-
 
     int16_t thr = rxGetChannelValue(THROTTLE);
     if (navigationIsControllingThrottle()) {

src/main/telemetry/sim.c

@@ -280,7 +280,7 @@ static void readSimResponse(void)
             simModuleState = SIM_MODULE_REGISTERED;
         } else {
             simModuleState = SIM_MODULE_NOT_REGISTERED;
-        }        
+        }
     } else if (responseCode == SIM_RESPONSE_CODE_CMT) {
         // +CMT: <oa>,[<alpha>],<scts>[,<tooa>,<fo>,<pid>,<dcs>,<sca>,<tosca>,<length>]<CR><LF><data>
         // +CMT: "+3581234567","","19/02/12,14:57:24+08"
@@ -295,11 +295,7 @@ static void readSimResponse(void)
 
 static int16_t getAltitudeMeters(void)
 {
-#if defined(USE_NAV)
     return getEstimatedActualPosition(Z) / 100;
-#else
-    return sensors(SENSOR_GPS) ? gpsSol.llh.alt / 100 : 0;
-#endif
 }
 
 static void transmit(void)
@@ -443,7 +439,7 @@ void handleSimTelemetry()
         break;
         case SIM_STATE_INIT_ENTER_PIN:
         sendATCommand("AT+CPIN=");
-        sendATCommand((char*)telemetryConfig()->simPin);        
+        sendATCommand((char*)telemetryConfig()->simPin);
         sendATCommand("\r");
         simTelemetryState = SIM_STATE_SET_MODES;
         break;