AP_BoardConfig: moved board dependent pieces from .h to .cpp

improves ccache efficiency

libraries/AP_BoardConfig/AP_BoardConfig.cpp

@@ -77,6 +77,18 @@
 extern const AP_HAL::HAL& hal;
 AP_BoardConfig *AP_BoardConfig::_singleton;
 
+// constructor
+AP_BoardConfig::AP_BoardConfig()
+#if HAL_HAVE_IMU_HEATER
+    // initialise heater PI controller. Note we do this in the cpp file
+    // for ccache efficiency
+    : heater{{HAL_IMUHEAT_P_DEFAULT, HAL_IMUHEAT_I_DEFAULT, 70},}
+#endif
+{
+    _singleton = this;
+    AP_Param::setup_object_defaults(this, var_info);
+};
+
 // table of user settable parameters
 const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
 

libraries/AP_BoardConfig/AP_BoardConfig.h

@@ -44,10 +44,7 @@ extern "C" typedef int (*main_fn_t)(int argc, char **);
 
 class AP_BoardConfig {
 public:
-    AP_BoardConfig() {
-        _singleton = this;
-        AP_Param::setup_object_defaults(this, var_info);
-    };
+    AP_BoardConfig();
 
     /* Do not allow copies */
     AP_BoardConfig(const AP_BoardConfig &other) = delete;
@@ -124,12 +121,10 @@ public:
 #endif
     }
 
-#ifdef HAL_PIN_ALT_CONFIG
     // get alternative config selection
     uint8_t get_alt_config(void) {
         return uint8_t(_alt_config.get());
     }
-#endif // HAL_PIN_ALT_CONFIG
 
     enum board_safety_button_option {
         BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF= (1 << 0),
@@ -254,9 +249,9 @@ private:
 
 #if HAL_HAVE_IMU_HEATER
     struct {
+        AC_PI pi_controller;
         AP_Int8 imu_target_temperature;
         uint32_t last_update_ms;
-        AC_PI pi_controller{HAL_IMUHEAT_P_DEFAULT, HAL_IMUHEAT_I_DEFAULT, 70};
         uint16_t count;
         float sum;
         float output;
@@ -282,9 +277,7 @@ private:
     AP_Float _vservo_min;
 #endif
 
-#ifdef HAL_GPIO_PWM_VOLT_PIN
     AP_Int8 _pwm_volt_sel;
-#endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     AP_Int8 _sdcard_slowdown;
@@ -294,9 +287,7 @@ private:
 
     AP_Int32 _options;
 
-#ifdef HAL_PIN_ALT_CONFIG
     AP_Int8  _alt_config;
-#endif
 };
 
 namespace AP {