From 34f327404aff1d1256fc4c0ce9f9a604efa29216 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 14 Jun 2022 13:11:27 +0900
Subject: [PATCH] AP_Mount: Gremsy only enabled on >1MB boards

---
 libraries/AP_Mount/AP_Mount.cpp        |  2 ++
 libraries/AP_Mount/AP_Mount_Gremsy.cpp |  7 +++----
 libraries/AP_Mount/AP_Mount_Gremsy.h   | 17 ++++++++++-------
 3 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index 0725e6a582..ee94daa455 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -468,10 +468,12 @@ void AP_Mount::init()
             _backends[instance] = new AP_Mount_SToRM32_serial(*this, state[instance], instance);
             _num_instances++;
 
+#if HAL_MOUNT_GREMSY_ENABLED
         // check for Gremsy mounts
         } else if (mount_type == Mount_Type_Gremsy) {
             _backends[instance] = new AP_Mount_Gremsy(*this, state[instance], instance);
             _num_instances++;
+#endif // HAL_MOUNT_GREMSY_ENABLED
         }
 
         // init new instance
diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.cpp b/libraries/AP_Mount/AP_Mount_Gremsy.cpp
index 6824c8ed94..f898cf7804 100644
--- a/libraries/AP_Mount/AP_Mount_Gremsy.cpp
+++ b/libraries/AP_Mount/AP_Mount_Gremsy.cpp
@@ -1,7 +1,6 @@
 #include "AP_Mount_Gremsy.h"
-#if HAL_MOUNT_ENABLED
-#include <AP_HAL/AP_HAL.h>
-#include <GCS_MAVLink/GCS.h>
+
+#if HAL_MOUNT_GREMSY_ENABLED
 
 extern const AP_HAL::HAL& hal;
 
@@ -308,4 +307,4 @@ void AP_Mount_Gremsy::send_gimbal_device_set_attitude(float roll_rad, float pitc
                                                 NAN, NAN, NAN);   // angular velocities
 }
 
-#endif // HAL_MOUNT_ENABLED
+#endif // HAL_MOUNT_GREMSY_ENABLED
diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.h b/libraries/AP_Mount/AP_Mount_Gremsy.h
index 29ce2c2ddd..1867ec5f07 100644
--- a/libraries/AP_Mount/AP_Mount_Gremsy.h
+++ b/libraries/AP_Mount/AP_Mount_Gremsy.h
@@ -1,18 +1,21 @@
 /*
-  SToRM32 mount using serial protocol backend class
+  Gremsy mount backend class
  */
 #pragma once
 
+#include "AP_Mount_Backend.h"
+
+#ifndef HAL_MOUNT_GREMSY_ENABLED
+#define HAL_MOUNT_GREMSY_ENABLED (HAL_MOUNT_ENABLED && !HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024)
+#endif
+
+#if HAL_MOUNT_GREMSY_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
-
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
-#include "AP_Mount_Backend.h"
-
-#if HAL_MOUNT_ENABLED
-
 
 class AP_Mount_Gremsy : public AP_Mount_Backend
 {
@@ -76,4 +79,4 @@ private:
     mavlink_gimbal_device_attitude_status_t _gimbal_device_attitude_status;  // copy of most recently received gimbal status
     uint32_t _sent_gimbal_device_attitude_status_ms;    // time_boot_ms field of gimbal_device_status message last forwarded to the GCS (used to prevent sending duplicates)
 };
-#endif // HAL_MOUNT_ENABLED
+#endif // HAL_MOUNT_GREMSY_ENABLED