Allow Copter to compile when Fence is disable but Avoidance is not

ArduCopter/Copter.h

@@ -155,10 +155,6 @@
 #include <AC_CustomControl/AC_CustomControl.h>                  // Custom control library
 #endif
 
-#if AP_AVOIDANCE_ENABLED && !AP_FENCE_ENABLED
-  #error AC_Avoidance relies on AP_FENCE_ENABLED which is disabled
-#endif
-
 #if AP_OAPATHPLANNER_ENABLED && !AP_FENCE_ENABLED
   #error AP_OAPathPlanner relies on AP_FENCE_ENABLED which is disabled
 #endif

Tools/autotest/test_build_options.py

@@ -43,7 +43,7 @@ def __init__(self, feature, vehicle, bytes_delta):
 
 class TestBuildOptions(object):
     def __init__(self,
-                 match_glob=None,
+                 match_glob=[],
                  do_step_disable_all=True,
                  do_step_disable_none=False,
                  do_step_disable_defaults=True,
@@ -317,9 +317,13 @@ def run_disable_in_turn(self):
         options = self.get_build_options_from_ardupilot_tree()
         count = 1
         for feature in sorted(options, key=lambda x : x.define):
-            if self.match_glob is not None:
-                if not fnmatch.fnmatch(feature.define, self.match_glob):
-                    continue
+            match = False
+            for match_glob in self.match_glob:
+                if fnmatch.fnmatch(feature.define, match_glob):
+                    match = True
+                    break
+            if not match:
+                continue
             with open("/tmp/run-disable-in-turn-progress", "w") as f:
                 f.write(f"{count}/{len(options)} {feature.define}\n")
                 #            if feature.define < "WINCH_ENABLED":
@@ -355,9 +359,13 @@ def run_enable_in_turn(self):
         options = self.get_build_options_from_ardupilot_tree()
         count = 1
         for feature in options:
-            if self.match_glob is not None:
-                if not fnmatch.fnmatch(feature.define, self.match_glob):
-                    continue
+            match = False
+            for match_glob in self.match_glob:
+                if fnmatch.fnmatch(feature.define, match_glob):
+                    match = True
+                    break
+            if not match:
+                continue
             self.progress("Enabling feature %s(%s) (%u/%u)" %
                           (feature.label, feature.define, count, len(options)))
             with open("/tmp/run-enable-in-turn-progress", "w") as f:
@@ -377,9 +385,13 @@ def get_disable_all_defines(self):
         options = self.get_build_options_from_ardupilot_tree()
         defines = {}
         for feature in options:
-            if self.match_glob is not None:
-                if not fnmatch.fnmatch(feature.define, self.match_glob):
-                    continue
+            match = False
+            for match_glob in self.match_glob:
+                if fnmatch.fnmatch(feature.define, match_glob):
+                    match = True
+                    break
+            if not match:
+                continue
             defines[feature.define] = 0
         for define in self.must_have_defines_for_board(self._board):
             defines[define] = 1
@@ -453,9 +465,9 @@ def run(self):
 
     parser = optparse.OptionParser()
     parser.add_option("--define-match-glob",
-                      type='string',
-                      default=None,
-                      help='feature define must match this glob to be tested')
+                      default=[],
+                      action='append',
+                      help='feature define must match any of these globs to be tested')
     parser.add_option("--no-run-with-defaults",
                       action='store_true',
                       help='Do not run the run-with-defaults step')

Tools/scripts/build_options.py

@@ -42,7 +42,7 @@ def __init__(self,
     Feature('Safety', 'PARACHUTE', 'HAL_PARACHUTE_ENABLED', 'Enable Parachute', 0, None),
     Feature('Safety', 'FENCE', 'AP_FENCE_ENABLED', 'Enable Geofence', 2, None),
     Feature('Safety', 'RALLY', 'HAL_RALLY_ENABLED', 'Enable Rally Points', 0, None),  # noqa
-    Feature('Safety', 'AC_AVOID', 'AP_AVOIDANCE_ENABLED', 'Enable Avoidance', 0, 'FENCE'),
+    Feature('Safety', 'AC_AVOID', 'AP_AVOIDANCE_ENABLED', 'Enable Avoidance', 0, None),
     Feature('Safety', 'AC_OAPATHPLANNER', 'AP_OAPATHPLANNER_ENABLED', 'Enable Object Avoidance Path Planner', 0, 'FENCE'),
 
     Feature('Battery', 'BATTERY_FUELFLOW', 'AP_BATTERY_FUELFLOW_ENABLED', 'Enable Fuel Flow BatteryMonitor', 0, None),

libraries/AC_Avoidance/AC_Avoidance_config.h

@@ -4,7 +4,7 @@
 #include <AC_Fence/AC_Fence_config.h>
 
 #ifndef AP_AVOIDANCE_ENABLED
-#define AP_AVOIDANCE_ENABLED AP_FENCE_ENABLED
+#define AP_AVOIDANCE_ENABLED 1
 #endif
 
 #ifndef AP_OAPATHPLANNER_ENABLED