always use modules. please remove the define USE_MODULES as it is not needed anymore

conf/airframes/demo_module.xml

@@ -202,8 +202,6 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 ap.srcs += nav_survey_rectangle.c
 ap.srcs += nav_line.c
 
-########## Modules
-ap.CFLAGS += -DUSE_MODULES
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
@@ -211,7 +209,5 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
 sim.srcs += nav_line.c nav_survey_rectangle.c
 
-sim.CFLAGS += -DUSE_MODULES
-
   </makefile>
 </airframe>

conf/airframes/mentor_tum.xml

@@ -15,7 +15,6 @@
       <define name="LOITER_TRIM"/>
       <define name="WIND_INFO"/>
       <define name="ALT_KALMAN"/>
-      <define name="USE_MODULES"/>
     </target>
 
     <target name="sim" 			board="pc">
@@ -23,7 +22,6 @@
       <define name="LOITER_TRIM"/>
       <define name="WIND_INFO"/>
       <define name="ALT_KALMAN"/>
-      <define name="USE_MODULES"/>
     </target>
 
     <subsystem name="radio_control" type="ppm"/>

sw/airborne/booz/booz2_datalink.c

@@ -26,9 +26,7 @@
 
 #include "datalink.h"
 
-#ifdef USE_MODULES
 #include "modules.h"
-#endif
 
 #include "settings.h"
 #include "downlink.h"
@@ -123,8 +121,6 @@ void dl_parse_msg(void) {
   default:
     break;
   }
-#ifdef USE_MODULES
   /* Parse modules datalink */
   modules_parse_datalink(msg_id);
-#endif
 }

sw/airborne/booz/booz2_navigation.c

@@ -29,9 +29,7 @@
 #include "booz2_ins.h"
 
 #include "booz2_autopilot.h"
-#ifdef USE_MODULES
 #include "modules.h"
-#endif
 #include "flight_plan.h"
 
 #ifdef USE_FMS

sw/airborne/datalink.c

@@ -33,9 +33,7 @@
 #include <string.h>
 #include "datalink.h"
 
-#ifdef USE_MODULES
 #include "modules.h"
-#endif
 
 #ifdef TRAFFIC_INFO
 #include "traffic_info.h"
@@ -207,9 +205,7 @@ LED_TOGGLE(3);
     } else
 #endif // USE_RC_TELEMETRY
   { /* Last else */
-#ifdef USE_MODULES
     /* Parse modules datalink */
     modules_parse_datalink(msg_id);
-#endif
   }
 }

sw/airborne/firmwares/rotorcraft/main.c

@@ -65,9 +65,7 @@
 #include "nps_autopilot_booz.h"
 #endif
 
-#ifdef USE_MODULES
 #include "modules.h"
-#endif
 
 static inline void on_gyro_accel_event( void );
 static inline void on_baro_abs_event( void );
@@ -131,9 +129,7 @@ STATIC_INLINE void booz2_main_init( void ) {
   booz_gps_init();
 #endif
 
-#ifdef USE_MODULES
   modules_init();
-#endif
 
   int_enable();
 
@@ -188,9 +184,7 @@ STATIC_INLINE void booz2_main_periodic( void ) {
   booz2_analog_periodic();
 #endif
 
-#ifdef USE_MODULES
   modules_periodic_task();
-#endif
 
   if (booz2_autopilot_in_flight) {
     RunOnceEvery(512, { booz2_autopilot_flight_time++; datalink_time++; });
@@ -218,9 +212,7 @@ STATIC_INLINE void booz2_main_event( void ) {
   BoozDetectGroundEvent();
 #endif
 
-#ifdef USE_MODULES
   modules_event_task();
-#endif
 
 }
 

sw/airborne/main_ap.c

@@ -160,9 +160,7 @@
 
 #define LOW_BATTERY_DECIVOLT (CATASTROPHIC_BAT_LEVEL*10)
 
-#ifdef USE_MODULES
 #include "modules.h"
-#endif
 
 /** FIXME: should be in rc_settings but required by telemetry (ap_downlink.h)*/
 uint8_t rc_settings_mode = 0;
@@ -689,9 +687,7 @@ void periodic_task_ap( void ) {
 #endif
     }
 
-#ifdef USE_MODULES
   modules_periodic_task();
-#endif
 }
 
 
@@ -811,9 +807,7 @@ void init_ap( void ) {
   max11040_init();
 #endif
 
-#ifdef USE_MODULES
   modules_init();
-#endif
 
   /** - start interrupt task */
   int_enable();
@@ -1032,8 +1026,6 @@ void event_task_ap( void ) {
     telecommand_task();
   }
 
-#ifdef USE_MODULES
   modules_event_task();
-#endif
 
 } /* event_task_ap() */

sw/tools/gen_modules.ml

@@ -334,7 +334,6 @@ let () =
   and modules_dir = Sys.argv.(1) in
   try
     let xml = start_and_begin xml_file h_name in
-    fprintf out_h "#ifdef USE_MODULES\n\n";
     fprintf out_h "#define MODULES_IDLE  0\n";
     fprintf out_h "#define MODULES_RUN   1\n";
     fprintf out_h "#define MODULES_START 2\n";
@@ -355,7 +354,6 @@ let () =
       (List.map (fun m -> try Xml.attrib m "name" with _ -> "") modules_list) in
     check_dependencies modules_list modules_name;
     parse_modules modules_list;
-    fprintf out_h "\n#endif // USE_MODULES\n";
     finish h_name;
     write_settings xml_file out_set modules_list;
     close_out out_set;