From d5ba9c4eec2f531d2b84bce7be4530b3e71b039f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alberto=20Garci=CC=81a=20Hierro?= Date: Mon, 4 Dec 2017 12:58:51 +0000 Subject: [PATCH] Rename a few more flags NAV -> USE_NAV FIXED_WING_LANDING -> NAV_FIXED_WING_LANDING ASYNC_GYRO_PROCESSING -> USE_ASYNC_GYRO_PROCESSING BOOTLOG -> USE_BOOTLOG STATS -> USE_STATS --- src/main/cms/cms_menu_builtin.c | 2 +- src/main/cms/cms_menu_navigation.c | 2 +- src/main/drivers/logging.c | 2 +- src/main/fc/cli.c | 8 +-- src/main/fc/config.c | 14 ++--- src/main/fc/config.h | 4 +- src/main/fc/fc_core.c | 12 ++--- src/main/fc/fc_init.c | 2 +- src/main/fc/fc_msp.c | 26 +++++----- src/main/fc/fc_tasks.c | 6 +-- src/main/fc/rc_modes.c | 6 +-- src/main/fc/settings.yaml | 52 +++++++++---------- src/main/fc/stats.c | 2 +- src/main/fc/stats.h | 2 +- src/main/flight/failsafe.c | 6 +-- src/main/flight/failsafe.h | 2 +- src/main/flight/pid.c | 2 +- src/main/io/dashboard.c | 2 +- src/main/io/osd.c | 4 +- src/main/navigation/navigation.c | 2 +- src/main/navigation/navigation.h | 2 +- src/main/navigation/navigation_fixedwing.c | 8 +-- src/main/navigation/navigation_fw_launch.c | 2 +- src/main/navigation/navigation_geo.c | 2 +- src/main/navigation/navigation_multicopter.c | 2 +- .../navigation/navigation_pos_estimator.c | 2 +- src/main/navigation/navigation_private.h | 2 +- src/main/rx/eleres.c | 2 +- src/main/scheduler/scheduler.h | 2 +- src/main/sensors/acceleration.c | 6 +-- src/main/sensors/gyro.c | 6 +-- src/main/target/ANYFCF7/target.h | 2 +- src/main/target/FISHDRONEF4/target.h | 2 +- src/main/target/common.h | 10 ++-- src/main/telemetry/ltm.c | 8 +-- src/main/telemetry/ltm.h | 2 +- src/main/telemetry/mavlink.c | 4 +- src/test/unit/target.h | 2 +- 38 files changed, 112 insertions(+), 112 deletions(-) diff --git a/src/main/cms/cms_menu_builtin.c b/src/main/cms/cms_menu_builtin.c index c8e8adbcc9..2e9a6538d4 100644 --- a/src/main/cms/cms_menu_builtin.c +++ b/src/main/cms/cms_menu_builtin.c @@ -100,7 +100,7 @@ static OSD_Entry menuFeaturesEntries[] = { {"--- FEATURES ---", OME_Label, NULL, NULL, 0}, {"BLACKBOX", OME_Submenu, cmsMenuChange, &cmsx_menuBlackbox, 0}, -#if defined(NAV) +#if defined(USE_NAV) {"NAVIGATION", OME_Submenu, cmsMenuChange, &cmsx_menuNavigation, 0}, #endif #if defined(VTX) || defined(USE_RTC6705) diff --git a/src/main/cms/cms_menu_navigation.c b/src/main/cms/cms_menu_navigation.c index c7ead575e3..3748e2bb53 100644 --- a/src/main/cms/cms_menu_navigation.c +++ b/src/main/cms/cms_menu_navigation.c @@ -26,7 +26,7 @@ #include "platform.h" -#if defined(NAV) +#if defined(USE_NAV) #include #include diff --git a/src/main/drivers/logging.c b/src/main/drivers/logging.c index da6475d7c1..cc7307d02f 100755 --- a/src/main/drivers/logging.c +++ b/src/main/drivers/logging.c @@ -25,7 +25,7 @@ #include "drivers/logging.h" -#ifdef BOOTLOG +#ifdef USE_BOOTLOG #include "drivers/time.h" diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c index 9defeb8f7d..a5fd1d35d1 100755 --- a/src/main/fc/cli.c +++ b/src/main/fc/cli.c @@ -135,7 +135,7 @@ static uint32_t bufferIndex = 0; static void cliAssert(char *cmdline); #endif -#if defined(BOOTLOG) +#if defined(USE_BOOTLOG) static void cliBootlog(char *cmdline); #endif @@ -562,7 +562,7 @@ static void cliAssert(char *cmdline) } #endif -#if defined(BOOTLOG) +#if defined(USE_BOOTLOG) static void cliBootlog(char *cmdline) { UNUSED(cmdline); @@ -2412,7 +2412,7 @@ static void cliStatus(char *cmdline) #endif cliPrintf("System load: %d", averageSystemLoadPercent); -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING const timeDelta_t pidTaskDeltaTime = getTaskDeltaTime(TASK_PID); #else const timeDelta_t pidTaskDeltaTime = getTaskDeltaTime(TASK_GYROPID); @@ -2702,7 +2702,7 @@ const clicmd_t cmdTable[] = { CLI_COMMAND_DEF("beeper", "turn on/off beeper", "list\r\n" "\t<+|->[name]", cliBeeper), #endif -#if defined(BOOTLOG) +#if defined(USE_BOOTLOG) CLI_COMMAND_DEF("bootlog", "show boot events", NULL, cliBootlog), #endif #ifdef USE_LED_STRIP diff --git a/src/main/fc/config.c b/src/main/fc/config.c index bf972ded5e..03935c6e50 100755 --- a/src/main/fc/config.c +++ b/src/main/fc/config.c @@ -134,7 +134,7 @@ PG_RESET_TEMPLATE(adcChannelConfig_t, adcChannelConfig, } ); -#ifdef NAV +#ifdef USE_NAV void validateNavConfig(void) { // Make sure minAlt is not more than maxAlt, maxAlt cannot be set lower than 500. @@ -153,7 +153,7 @@ void validateNavConfig(void) uint32_t getPidUpdateRate(void) { -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING if (systemConfig()->asyncMode == ASYNC_MODE_NONE) { return getGyroUpdateRate(); } else { @@ -170,7 +170,7 @@ timeDelta_t getGyroUpdateRate(void) } uint16_t getAccUpdateRate(void) { -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING // ACC will be updated at its own rate if (systemConfig()->asyncMode == ASYNC_MODE_ALL) { return 1000000 / systemConfig()->accTaskFrequency; @@ -183,7 +183,7 @@ uint16_t getAccUpdateRate(void) #endif } -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING uint16_t getAttitudeUpdateRate(void) { if (systemConfig()->asyncMode == ASYNC_MODE_ALL) { return 1000000 / systemConfig()->attitudeTaskFrequency; @@ -275,7 +275,7 @@ void validateAndFixConfig(void) } #endif -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING /* * When async processing mode is enabled, gyroSync has to be forced to "ON" */ @@ -377,7 +377,7 @@ void validateAndFixConfig(void) mixerConfigMutable()->mixerMode = DEFAULT_MIXER; } -#if defined(NAV) +#if defined(USE_NAV) // Ensure sane values of navConfig settings validateNavConfig(); #endif @@ -463,7 +463,7 @@ static void activateConfig(void) pidInit(); -#ifdef NAV +#ifdef USE_NAV navigationUsePIDs(); #endif } diff --git a/src/main/fc/config.h b/src/main/fc/config.h index 85edc94e8e..d71ab2d469 100644 --- a/src/main/fc/config.h +++ b/src/main/fc/config.h @@ -104,7 +104,7 @@ typedef struct adcChannelConfig_s { PG_DECLARE(adcChannelConfig_t, adcChannelConfig); -#ifdef STATS +#ifdef USE_STATS PG_DECLARE(statsConfig_t, statsConfig); #endif @@ -142,7 +142,7 @@ void targetConfiguration(void); uint32_t getPidUpdateRate(void); timeDelta_t getGyroUpdateRate(void); uint16_t getAccUpdateRate(void); -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING uint16_t getAttitudeUpdateRate(void); uint8_t getAsyncMode(void); #endif diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c index 3d08e5deaa..907885299a 100755 --- a/src/main/fc/fc_core.c +++ b/src/main/fc/fc_core.c @@ -122,7 +122,7 @@ bool isCalibrating(void) } #endif -#ifdef NAV +#ifdef USE_NAV if (!navIsCalibrationComplete()) { return true; } @@ -212,7 +212,7 @@ static void updateArmingStatus(void) DISABLE_ARMING_FLAG(ARMING_DISABLED_SYSTEM_OVERLOADED); } -#if defined(NAV) +#if defined(USE_NAV) /* CHECK: Navigation safety */ if (navigationBlockArming()) { ENABLE_ARMING_FLAG(ARMING_DISABLED_NAVIGATION_UNSAFE); @@ -379,7 +379,7 @@ void mwArm(void) disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero //beep to indicate arming -#ifdef NAV +#ifdef USE_NAV if (navigationPositionEstimateIsHealthy()) beeper(BEEPER_ARMING_GPS_FIX); else @@ -702,7 +702,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs) cycleTime = getTaskDeltaTime(TASK_SELF); dT = (float)cycleTime * 0.000001f; -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING if (getAsyncMode() == ASYNC_MODE_NONE) { taskGyro(currentTimeUs); } @@ -725,7 +725,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs) filterRc(isRXDataNew); } -#if defined(NAV) +#if defined(USE_NAV) if (isRXDataNew) { updateWaypointsAndNavigationMode(); } @@ -733,7 +733,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs) isRXDataNew = false; -#if defined(NAV) +#if defined(USE_NAV) updatePositionEstimator(); applyWaypointNavigationAndAltitudeHold(); #endif diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index a6dcd76669..a8a4c494ea 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -571,7 +571,7 @@ void init(void) #endif -#ifdef NAV +#ifdef USE_NAV navigationInit(); #endif diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 6fdd16b245..6f9edfd8a2 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -463,7 +463,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF break; case MSP_ALTITUDE: -#if defined(NAV) +#if defined(USE_NAV) sbufWriteU32(dst, lrintf(getEstimatedActualPosition(Z))); sbufWriteU16(dst, lrintf(getEstimatedActualVelocity(Z))); #else @@ -622,7 +622,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF sbufWriteU16(dst, GPS_directionToHome); sbufWriteU8(dst, gpsSol.flags.gpsHeartbeat ? 1 : 0); break; -#ifdef NAV +#ifdef USE_NAV case MSP_NAV_STATUS: sbufWriteU8(dst, NAV_Status.mode); sbufWriteU8(dst, NAV_Status.state); @@ -937,7 +937,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF break; case MSP_INAV_PID: - #ifdef ASYNC_GYRO_PROCESSING + #ifdef USE_ASYNC_GYRO_PROCESSING sbufWriteU8(dst, systemConfig()->asyncMode); sbufWriteU16(dst, systemConfig()->accTaskFrequency); sbufWriteU16(dst, systemConfig()->attitudeTaskFrequency); @@ -986,7 +986,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF #endif break; -#ifdef NAV +#ifdef USE_NAV case MSP_NAV_POSHOLD: sbufWriteU8(dst, navConfig()->general.flags.user_control_mode); sbufWriteU16(dst, navConfig()->general.max_auto_speed); @@ -1054,7 +1054,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF break; case MSP_POSITION_ESTIMATION_CONFIG: - #ifdef NAV + #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 @@ -1084,7 +1084,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF break; case MSP_WP_GETINFO: -#ifdef NAV +#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 @@ -1159,7 +1159,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF return true; } -#ifdef NAV +#ifdef USE_NAV static void mspFcWaypointOutCommand(sbuf_t *dst, sbuf_t *src) { const uint8_t msp_wp_no = sbufReadU8(src); // get the wp number @@ -1271,7 +1271,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) pidBankMutable()->pid[i].D = sbufReadU8(src); } schedulePidGainsUpdate(); -#if defined(NAV) +#if defined(USE_NAV) navigationUsePIDs(); #endif break; @@ -1510,7 +1510,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) break; case MSP_SET_INAV_PID: - #ifdef ASYNC_GYRO_PROCESSING + #ifdef USE_ASYNC_GYRO_PROCESSING systemConfigMutable()->asyncMode = sbufReadU8(src); systemConfigMutable()->accTaskFrequency = sbufReadU16(src); systemConfigMutable()->attitudeTaskFrequency = sbufReadU16(src); @@ -1559,7 +1559,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) #endif break; -#ifdef NAV +#ifdef USE_NAV case MSP_SET_NAV_POSHOLD: navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src); navConfigMutable()->general.max_auto_speed = sbufReadU16(src); @@ -1628,7 +1628,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) break; case MSP_SET_POSITION_ESTIMATION_CONFIG: - #ifdef NAV + #ifdef USE_NAV positionEstimationConfigMutable()->w_z_baro_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f); positionEstimationConfigMutable()->w_z_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f); positionEstimationConfigMutable()->w_z_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f); @@ -1792,7 +1792,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src) onNewGPSData(); break; #endif -#ifdef NAV +#ifdef USE_NAV case MSP_SET_WP: { const uint8_t msp_wp_no = sbufReadU8(src); // get the waypoint number @@ -2158,7 +2158,7 @@ mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostPro mspFc4waySerialCommand(dst, src, mspPostProcessFn); ret = MSP_RESULT_ACK; #endif -#ifdef NAV +#ifdef USE_NAV } else if (cmdMSP == MSP_WP) { mspFcWaypointOutCommand(dst, src); ret = MSP_RESULT_ACK; diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c index 0c10e525f0..e35969e5b6 100755 --- a/src/main/fc/fc_tasks.c +++ b/src/main/fc/fc_tasks.c @@ -251,7 +251,7 @@ void taskSyncPwmDriver(timeUs_t currentTimeUs) } #endif -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING void taskAttitude(timeUs_t currentTimeUs) { imuUpdateAttitude(currentTimeUs); @@ -291,7 +291,7 @@ void fcTasksInit(void) { schedulerInit(); -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING rescheduleTask(TASK_PID, getPidUpdateRate()); setTaskEnabled(TASK_PID, true); @@ -387,7 +387,7 @@ cfTask_t cfTasks[TASK_COUNT] = { .staticPriority = TASK_PRIORITY_HIGH, }, - #ifdef ASYNC_GYRO_PROCESSING + #ifdef USE_ASYNC_GYRO_PROCESSING [TASK_PID] = { .taskName = "PID", .taskFunc = taskMainPidLoop, diff --git a/src/main/fc/rc_modes.c b/src/main/fc/rc_modes.c index c378e3a638..831465e069 100755 --- a/src/main/fc/rc_modes.c +++ b/src/main/fc/rc_modes.c @@ -36,7 +36,7 @@ static uint8_t specifiedConditionCountPerMode[CHECKBOX_ITEM_COUNT]; static bool isUsingSticksToArm = true; -#ifdef NAV +#ifdef USE_NAV static bool isUsingNAVModes = false; #endif @@ -56,7 +56,7 @@ bool isAirmodeActive(void) return feature(FEATURE_AIRMODE) || IS_RC_MODE_ACTIVE(BOXAIRMODE); } -#if defined(NAV) +#if defined(USE_NAV) bool isUsingNavigationModes(void) { return isUsingNAVModes; @@ -150,7 +150,7 @@ void updateUsedModeActivationConditionFlags(void) isUsingSticksToArm = !isModeActivationConditionPresent(BOXARM); -#ifdef NAV +#ifdef USE_NAV isUsingNAVModes = isModeActivationConditionPresent(BOXNAVPOSHOLD) || isModeActivationConditionPresent(BOXNAVRTH) || isModeActivationConditionPresent(BOXNAVWP); diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml index 7a2b2e1e9d..5705206454 100644 --- a/src/main/fc/settings.yaml +++ b/src/main/fc/settings.yaml @@ -847,98 +847,98 @@ groups: - name: nav_mc_pos_z_p field: bank_mc.pid[PID_POS_Z].P - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_mc_pos_z_i field: bank_mc.pid[PID_POS_Z].I - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_mc_pos_z_d field: bank_mc.pid[PID_POS_Z].D - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_mc_vel_z_p field: bank_mc.pid[PID_VEL_Z].P - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_mc_vel_z_i field: bank_mc.pid[PID_VEL_Z].I - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_mc_vel_z_d field: bank_mc.pid[PID_VEL_Z].D - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_mc_pos_xy_p field: bank_mc.pid[PID_POS_XY].P - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_mc_pos_xy_i field: bank_mc.pid[PID_POS_XY].I - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_mc_pos_xy_d field: bank_mc.pid[PID_POS_XY].D - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_mc_vel_xy_p field: bank_mc.pid[PID_VEL_XY].P - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_mc_vel_xy_i field: bank_mc.pid[PID_VEL_XY].I - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_mc_vel_xy_d field: bank_mc.pid[PID_VEL_XY].D - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_fw_pos_z_p field: bank_fw.pid[PID_POS_Z].P - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_fw_pos_z_i field: bank_fw.pid[PID_POS_Z].I - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_fw_pos_z_d field: bank_fw.pid[PID_POS_Z].D - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_fw_pos_xy_p field: bank_fw.pid[PID_POS_XY].P - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_fw_pos_xy_i field: bank_fw.pid[PID_POS_XY].I - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: nav_fw_pos_xy_d field: bank_fw.pid[PID_POS_XY].D - condition: NAV + condition: USE_NAV min: 0 max: 255 - name: PG_PID_AUTOTUNE_CONFIG type: pidAutotuneConfig_t - condition: NAV + condition: USE_NAV members: - name: fw_autotune_overshoot_time field: fw_overshoot_time @@ -963,7 +963,7 @@ groups: - name: PG_POSITION_ESTIMATION_CONFIG type: positionEstimationConfig_t - condition: NAV + condition: USE_NAV members: - name: inav_auto_mag_decl field: automatic_mag_declination @@ -1039,7 +1039,7 @@ groups: - name: PG_NAV_CONFIG type: navConfig_t headers: ["navigation/navigation.h"] - condition: NAV + condition: USE_NAV members: - name: nav_disarm_on_landing field: general.flags.disarm_on_landing @@ -1170,7 +1170,7 @@ groups: - name: nav_fw_land_dive_angle field: fw.land_dive_angle - condition: FIXED_WING_LANDING + condition: NAV_FIXED_WING_LANDING min: -20 max: 20 @@ -1502,17 +1502,17 @@ groups: table: debug_modes - name: acc_task_frequency field: accTaskFrequency - condition: ASYNC_GYRO_PROCESSING + condition: USE_ASYNC_GYRO_PROCESSING min: ACC_TASK_FREQUENCY_MIN max: ACC_TASK_FREQUENCY_MAX - name: attitude_task_frequency field: attitudeTaskFrequency - condition: ASYNC_GYRO_PROCESSING + condition: USE_ASYNC_GYRO_PROCESSING min: ATTITUDE_TASK_FREQUENCY_MIN max: ATTITUDE_TASK_FREQUENCY_MAX - name: async_mode field: asyncMode - condition: ASYNC_GYRO_PROCESSING + condition: USE_ASYNC_GYRO_PROCESSING table: async_mode - name: throttle_tilt_comp_str field: throttle_tilt_compensation_strength @@ -1534,7 +1534,7 @@ groups: - name: PG_STATS_CONFIG type: statsConfig_t headers: ["fc/stats.h"] - condition: STATS + condition: USE_STATS members: - name: stats field: stats_enabled diff --git a/src/main/fc/stats.c b/src/main/fc/stats.c index a66f47f3b8..f2910dfede 100644 --- a/src/main/fc/stats.c +++ b/src/main/fc/stats.c @@ -1,7 +1,7 @@ #include "platform.h" -#ifdef STATS +#ifdef USE_STATS #include "fc/stats.h" diff --git a/src/main/fc/stats.h b/src/main/fc/stats.h index e62f00efec..e9aaa7406c 100644 --- a/src/main/fc/stats.h +++ b/src/main/fc/stats.h @@ -1,6 +1,6 @@ #pragma once -#ifdef STATS +#ifdef USE_STATS typedef struct statsConfig_s { uint32_t stats_total_time; // [s] diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c index bc998a791d..9f8aac88a0 100644 --- a/src/main/flight/failsafe.c +++ b/src/main/flight/failsafe.c @@ -168,7 +168,7 @@ void failsafeInit(void) failsafeState.suspended = false; } -#ifdef NAV +#ifdef USE_NAV bool failsafeBypassNavigation(void) { return failsafeState.active && failsafeState.controlling && failsafeProcedureLogic[failsafeConfig()->failsafe_procedure].bypassNavigation; @@ -419,7 +419,7 @@ void failsafeUpdateState(void) failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS; // require 3 seconds of valid rxData break; -#if defined(NAV) +#if defined(USE_NAV) case FAILSAFE_PROCEDURE_RTH: // Proceed to handling & monitoring RTH navigation failsafeActivate(FAILSAFE_RETURN_TO_HOME); @@ -444,7 +444,7 @@ void failsafeUpdateState(void) } break; -#if defined(NAV) +#if defined(USE_NAV) case FAILSAFE_RETURN_TO_HOME: if (receivingRxDataAndNotFailsafeMode && sticksAreMoving) { abortForcedRTH(); diff --git a/src/main/flight/failsafe.h b/src/main/flight/failsafe.h index 11cf8e22f1..cf8a383b28 100644 --- a/src/main/flight/failsafe.h +++ b/src/main/flight/failsafe.h @@ -70,7 +70,7 @@ typedef enum { * failsafe_procedure = NONE. */ FAILSAFE_RX_LOSS_IDLE, -#if defined(NAV) +#if defined(USE_NAV) /* Failsafe is executing RTH. This phase is the first one * enabled when failsafe_procedure = RTH if an RTH is * deemed possible (RTH might not be activated if e.g. diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index f1a3286283..e264989d94 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -554,7 +554,7 @@ static uint8_t getHeadingHoldState(void) return HEADING_HOLD_DISABLED; } -#if defined(NAV) +#if defined(USE_NAV) int navHeadingState = navigationGetHeadingControlState(); // NAV will prevent MAG_MODE from activating, but require heading control if (navHeadingState != NAV_HEADING_CONTROL_NONE) { diff --git a/src/main/io/dashboard.c b/src/main/io/dashboard.c index bdde5bd94c..7d748b4f83 100644 --- a/src/main/io/dashboard.c +++ b/src/main/io/dashboard.c @@ -264,7 +264,7 @@ static void updateFailsafeStatus(void) case FAILSAFE_RX_LOSS_IDLE: failsafeIndicator = 'I'; break; -#if defined(NAV) +#if defined(USE_NAV) case FAILSAFE_RETURN_TO_HOME: failsafeIndicator = 'H'; break; diff --git a/src/main/io/osd.c b/src/main/io/osd.c index fc46fa29e6..3ecd393024 100755 --- a/src/main/io/osd.c +++ b/src/main/io/osd.c @@ -557,7 +557,7 @@ static const char * osdFailsafePhaseMessage(void) { // See failsafe.h for each phase explanation switch (failsafePhase()) { -#ifdef NAV +#ifdef USE_NAV case FAILSAFE_RETURN_TO_HOME: // XXX: Keep this in sync with OSD_FLYMODE. return OSD_MESSAGE_STR("(RTH)"); @@ -723,7 +723,7 @@ static void osdFormatThrottlePosition(char *buff, bool autoThr) static inline int32_t osdGetAltitude(void) { -#if defined(NAV) +#if defined(USE_NAV) return getEstimatedActualPosition(Z); #elif defined(USE_BARO) return baro.alt; diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c index a24529c1bb..28fb38e6a3 100755 --- a/src/main/navigation/navigation.c +++ b/src/main/navigation/navigation.c @@ -70,7 +70,7 @@ gpsLocation_t GPS_home; uint16_t GPS_distanceToHome; // distance to home point in meters int16_t GPS_directionToHome; // direction to home point in degrees -#if defined(NAV) +#if defined(USE_NAV) #if defined(NAV_NON_VOLATILE_WAYPOINT_STORAGE) PG_DECLARE_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList); PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0); diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h index 9993021a3c..8b248b312e 100755 --- a/src/main/navigation/navigation.h +++ b/src/main/navigation/navigation.h @@ -31,7 +31,7 @@ extern int16_t GPS_directionToHome; // direction to home poin /* Navigation system updates */ void onNewGPSData(void); -#if defined(NAV) +#if defined(USE_NAV) #if defined(USE_BLACKBOX) #define NAV_BLACKBOX #endif diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c index 4bcae7567b..f016715184 100755 --- a/src/main/navigation/navigation_fixedwing.c +++ b/src/main/navigation/navigation_fixedwing.c @@ -21,7 +21,7 @@ #include "platform.h" -#if defined(NAV) +#if defined(USE_NAV) #include "build/build_config.h" #include "build/debug.h" @@ -428,7 +428,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat pitchCorrection += posControl.rcAdjustment[PITCH]; throttleCorrection += DECIDEGREES_TO_DEGREES(pitchCorrection) * navConfig()->fw.pitch_to_throttle; -#ifdef FIXED_WING_LANDING +#ifdef NAV_FIXED_WING_LANDING if (navStateFlags & NAV_CTL_LAND) { /* * During LAND we do not allow to raise THROTTLE when nose is up @@ -438,7 +438,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat } else { #endif throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, maxThrottleCorrection); -#ifdef FIXED_WING_LANDING +#ifdef NAV_FIXED_WING_LANDING } #endif } @@ -467,7 +467,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat rcCommand[THROTTLE] = constrain(correctedThrottleValue, motorConfig()->minthrottle, motorConfig()->maxthrottle); } -#ifdef FIXED_WING_LANDING +#ifdef NAV_FIXED_WING_LANDING /* * Then altitude is below landing slowdown min. altitude, enable final approach procedure * TODO refactor conditions in this metod if logic is proven to be correct diff --git a/src/main/navigation/navigation_fw_launch.c b/src/main/navigation/navigation_fw_launch.c index caa92bfa12..7df063b558 100755 --- a/src/main/navigation/navigation_fw_launch.c +++ b/src/main/navigation/navigation_fw_launch.c @@ -22,7 +22,7 @@ #include "platform.h" -#if defined(NAV) +#if defined(USE_NAV) #include "build/build_config.h" #include "build/debug.h" diff --git a/src/main/navigation/navigation_geo.c b/src/main/navigation/navigation_geo.c index 546441b9be..c5f4b10441 100755 --- a/src/main/navigation/navigation_geo.c +++ b/src/main/navigation/navigation_geo.c @@ -21,7 +21,7 @@ #include "platform.h" -#if defined(NAV) +#if defined(USE_NAV) #include "build/build_config.h" #include "build/debug.h" diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c index c663af3faf..5bbcd88b82 100755 --- a/src/main/navigation/navigation_multicopter.c +++ b/src/main/navigation/navigation_multicopter.c @@ -21,7 +21,7 @@ #include "platform.h" -#if defined(NAV) +#if defined(USE_NAV) #include "build/build_config.h" #include "build/debug.h" diff --git a/src/main/navigation/navigation_pos_estimator.c b/src/main/navigation/navigation_pos_estimator.c index bce39cd553..d62c9ed3d5 100755 --- a/src/main/navigation/navigation_pos_estimator.c +++ b/src/main/navigation/navigation_pos_estimator.c @@ -22,7 +22,7 @@ #include "platform.h" -#if defined(NAV) +#if defined(USE_NAV) #include "build/build_config.h" #include "build/debug.h" diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h index bf7001d066..e991dfb18a 100755 --- a/src/main/navigation/navigation_private.h +++ b/src/main/navigation/navigation_private.h @@ -19,7 +19,7 @@ #define DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR 1.113195f // MagicEarthNumber from APM -#if defined(NAV) +#if defined(USE_NAV) #include "common/filter.h" #include "fc/runtime_config.h" diff --git a/src/main/rx/eleres.c b/src/main/rx/eleres.c index 2d7d5d2025..663a096486 100755 --- a/src/main/rx/eleres.c +++ b/src/main/rx/eleres.c @@ -326,7 +326,7 @@ static void telemetryRX(void) if (sensors(SENSOR_GPS)) { uint16_t gpsspeed = (gpsSol.groundSpeed*9L)/250L; int16_t course = (gpsSol.groundCourse+360)%360; -#ifdef NAV +#ifdef USE_NAV int32_t alt = getEstimatedActualPosition(Z); #else int32_t alt = baro.BaroAlt; diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h index c46e48b772..243c0ea338 100755 --- a/src/main/scheduler/scheduler.h +++ b/src/main/scheduler/scheduler.h @@ -51,7 +51,7 @@ typedef struct { typedef enum { /* Actual tasks */ TASK_SYSTEM = 0, -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING TASK_PID, TASK_GYRO, TASK_ACC, diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c index 4a1aba0a8d..1eb136fb1d 100644 --- a/src/main/sensors/acceleration.c +++ b/src/main/sensors/acceleration.c @@ -454,7 +454,7 @@ static void applyAccelerationZero(const flightDynamicsTrims_t * accZero, const f accADC[Z] = (accADC[Z] - accZero->raw[Z]) * accGain->raw[Z] / 4096; } -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING STATIC_FASTRAM float accumulatedMeasurements[XYZ_AXIS_COUNT]; STATIC_FASTRAM int accumulatedMeasurementCount; @@ -472,7 +472,7 @@ static void accUpdateAccumulatedMeasurements(void) */ void accGetMeasuredAcceleration(t_fp_vector *measuredAcc) { -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING if (accumulatedMeasurementCount) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { measuredAcc->A[axis] = accumulatedMeasurements[axis] * GRAVITY_CMSS / accumulatedMeasurementCount; @@ -528,7 +528,7 @@ void accUpdate(void) } #endif -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING accUpdateAccumulatedMeasurements(); #endif } diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index 31092bd1d5..315e50920a 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -357,7 +357,7 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroDev_t *dev, gyroCalibration_t gyroCalibration->calibratingG--; } -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING STATIC_FASTRAM float accumulatedRates[XYZ_AXIS_COUNT]; STATIC_FASTRAM timeUs_t accumulatedRateTimeUs; @@ -376,7 +376,7 @@ static void gyroUpdateAccumulatedRates(timeDelta_t gyroUpdateDeltaUs) */ void gyroGetMeasuredRotationRate(t_fp_vector *measuredRotationRate) { -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING const float accumulatedRateTime = accumulatedRateTimeUs * 1e-6; accumulatedRateTimeUs = 0; for (int axis = 0; axis < 3; axis++) { @@ -432,7 +432,7 @@ void gyroUpdate(timeDelta_t gyroUpdateDeltaUs) gyro.gyroADCf[axis] = gyroADCf; } -#ifdef ASYNC_GYRO_PROCESSING +#ifdef USE_ASYNC_GYRO_PROCESSING // Accumulate gyro readings for better IMU accuracy gyroUpdateAccumulatedRates(gyroUpdateDeltaUs); #endif diff --git a/src/main/target/ANYFCF7/target.h b/src/main/target/ANYFCF7/target.h index 18bc2fc0db..5af0db874c 100644 --- a/src/main/target/ANYFCF7/target.h +++ b/src/main/target/ANYFCF7/target.h @@ -160,7 +160,7 @@ #define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO) -#define NAV +#define USE_NAV #define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION diff --git a/src/main/target/FISHDRONEF4/target.h b/src/main/target/FISHDRONEF4/target.h index f7b4a0d6a5..813514df4f 100644 --- a/src/main/target/FISHDRONEF4/target.h +++ b/src/main/target/FISHDRONEF4/target.h @@ -167,7 +167,7 @@ // #define USE_RANGEFINDER_SRF10 // *************** NAV ***************************** -#define NAV +#define USE_NAV #define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION #define NAV_MAX_WAYPOINTS 60 diff --git a/src/main/target/common.h b/src/main/target/common.h index 2090b48ef4..b4e00bc340 100755 --- a/src/main/target/common.h +++ b/src/main/target/common.h @@ -40,7 +40,7 @@ #define USE_BLACKBOX #define USE_GPS #define USE_GPS_PROTO_UBLOX -#define NAV +#define USE_NAV #define USE_FLM_TURN_ASSIST // This is mandatory for fixed-wing navigation #define USE_TELEMETRY #define USE_TELEMETRY_LTM @@ -59,12 +59,12 @@ #endif #if (FLASH_SIZE > 128) -#define FIXED_WING_LANDING +#define NAV_FIXED_WING_LANDING #define AUTOTUNE_FIXED_WING -#define ASYNC_GYRO_PROCESSING -#define BOOTLOG +#define USE_ASYNC_GYRO_PROCESSING +#define USE_BOOTLOG #define BOOTLOG_DESCRIPTIONS -#define STATS +#define USE_STATS #define USE_64BIT_TIME #define USE_GYRO_NOTCH_1 #define USE_GYRO_NOTCH_2 diff --git a/src/main/telemetry/ltm.c b/src/main/telemetry/ltm.c index 2ab1d7a586..726a0916b2 100644 --- a/src/main/telemetry/ltm.c +++ b/src/main/telemetry/ltm.c @@ -132,7 +132,7 @@ void ltm_gframe(sbuf_t *dst) ltm_gs = gpsSol.groundSpeed / 100; } -#if defined(NAV) +#if defined(USE_NAV) ltm_alt = getEstimatedActualPosition(Z); // cm #else ltm_alt = sensors(SENSOR_GPS) ? gpsSol.llh.alt : 0; // cm @@ -247,7 +247,7 @@ void ltm_xframe(sbuf_t *dst) ltm_x_counter++; // overflow is OK } -#if defined(NAV) +#if defined(USE_NAV) /** OSD additional data frame, ~4 Hz rate, navigation system status */ void ltm_nframe(sbuf_t *dst) @@ -363,7 +363,7 @@ static void process_ltm(void) ltm_finalise(dst); } -#if defined(NAV) +#if defined(USE_NAV) if (current_schedule & LTM_BIT_NFRAME) { ltm_initialise_packet(dst); ltm_nframe(dst); @@ -476,7 +476,7 @@ int getLtmFrame(uint8_t *frame, ltm_frame_e ltmFrameType) case LTM_XFRAME: ltm_xframe(sbuf); break; -#if defined(NAV) +#if defined(USE_NAV) case LTM_NFRAME: ltm_nframe(sbuf); break; diff --git a/src/main/telemetry/ltm.h b/src/main/telemetry/ltm.h index ce260f781f..f00d8d2e19 100644 --- a/src/main/telemetry/ltm.h +++ b/src/main/telemetry/ltm.h @@ -28,7 +28,7 @@ typedef enum { LTM_OFRAME, // Origin Frame LTM_XFRAME, // Extended information data frame #endif -#if defined(NAV) +#if defined(USE_NAV) LTM_NFRAME, // Navigation Frame (inav extension) #endif LTM_FRAME_COUNT diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c index 00ad0ef2d6..4f844549aa 100755 --- a/src/main/telemetry/mavlink.c +++ b/src/main/telemetry/mavlink.c @@ -327,7 +327,7 @@ 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(NAV) +#if defined(USE_NAV) getEstimatedActualPosition(Z) * 10, #else gpsSol.llh.alt * 10, @@ -398,7 +398,7 @@ void mavlinkSendHUDAndHeartbeat(void) #endif // select best source for altitude -#if defined(NAV) +#if defined(USE_NAV) mavAltitude = getEstimatedActualPosition(Z) / 100.0f; mavClimbRate = getEstimatedActualVelocity(Z) / 100.0f; #elif defined(USE_GPS) diff --git a/src/test/unit/target.h b/src/test/unit/target.h index de18f8b3d6..b0df8b7ce0 100755 --- a/src/test/unit/target.h +++ b/src/test/unit/target.h @@ -26,7 +26,7 @@ #define USE_GPS_PROTO_NAZA #define USE_GPS_PROTO_MTK #define USE_DASHBOARD -#define NAV +#define USE_NAV #define USE_TELEMETRY #define USE_TELEMETRY_FRSKY #define USE_TELEMETRY_HOTT