From c057be8ed156ad455a5cfb4c9b720e6e3bfd4c50 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sat, 19 Sep 2020 09:38:20 +0100
Subject: [PATCH] Plane: conditionally compile ADSB support

---
 ArduPlane/ArduPlane.cpp      | 6 ++++--
 ArduPlane/GCS_Mavlink.cpp    | 6 ++++++
 ArduPlane/Parameters.cpp     | 2 ++
 ArduPlane/Plane.h            | 5 ++++-
 ArduPlane/avoidance_adsb.cpp | 3 +++
 ArduPlane/is_flying.cpp      | 2 ++
 ArduPlane/mode.cpp           | 3 ++-
 7 files changed, 23 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 19e0796a62..3064c8595c 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -92,7 +92,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Logger, &plane.logger, periodic_tasks, 50, 400),
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins, periodic, 50, 50),
+#if HAL_ADSB_ENABLED    
     SCHED_TASK(avoidance_adsb_update,  10,    100),
+#endif
     SCHED_TASK_CLASS(RC_Channels,       (RC_Channels*)&plane.g2.rc_channels, read_aux_all,           10,    200),
     SCHED_TASK_CLASS(AP_Button, &plane.button, update, 5, 100),
 #if STATS_ENABLED == ENABLED
@@ -265,10 +267,10 @@ void Plane::one_second_loop()
 
     // make it possible to change orientation at runtime
     ahrs.update_orientation();
-
+#if HAL_ADSB_ENABLED
     adsb.set_stall_speed_cm(aparm.airspeed_min);
     adsb.set_max_speed(aparm.airspeed_max);
-
+#endif
     ahrs.writeDefaultAirSpeed((float)((aparm.airspeed_min + aparm.airspeed_max)/2));
 
     // sync MAVLink system ID
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index c397a79a70..c051d8bd40 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -434,8 +434,10 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
         break;
 
     case MSG_ADSB_VEHICLE:
+#if HAL_ADSB_ENABLED
         CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
         plane.adsb.send_adsb_vehicle(chan);
+#endif
         break;
 
     case MSG_AOA_SSA:
@@ -708,7 +710,9 @@ MAV_RESULT GCS_MAVLINK_Plane::_handle_command_preflight_calibration(const mavlin
 void GCS_MAVLINK_Plane::packetReceived(const mavlink_status_t &status,
                                        const mavlink_message_t &msg)
 {
+#if HAL_ADSB_ENABLED
     plane.avoidance_adsb.handle_msg(msg);
+#endif
     GCS_MAVLINK::packetReceived(status, msg);
 }
 
@@ -1475,7 +1479,9 @@ void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
     case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG:
     case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
     case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
+#if HAL_ADSB_ENABLED    
         plane.adsb.handle_message(chan, msg);
+#endif
         break;
 
     default:
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index ea5ae47eb0..a1e81f1953 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -911,6 +911,7 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(terrain,                "TERRAIN_", AP_Terrain),
 #endif
 
+#if HAL_ADSB_ENABLED
     // @Group: ADSB_
     // @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
     GOBJECT(adsb,                "ADSB_", AP_ADSB),
@@ -918,6 +919,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Group: AVD_
     // @Path: ../libraries/AP_Avoidance/AP_Avoidance.cpp
     GOBJECT(avoidance_adsb, "AVD_", AP_Avoidance_Plane),
+#endif
 
     // @Group: Q_
     // @Path: quadplane.cpp
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 486c5bca48..56de153687 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -108,7 +108,9 @@
 
 #include "RC_Channel.h"     // RC Channel Library
 #include "Parameters.h"
+#if HAL_ADSB_ENABLED
 #include "avoidance_adsb.h"
+#endif
 #include "AP_Arming.h"
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@@ -632,11 +634,12 @@ private:
             FUNCTOR_BIND_MEMBER(&Plane::adjusted_relative_altitude_cm, int32_t),
             FUNCTOR_BIND_MEMBER(&Plane::disarm_if_autoland_complete, void),
             FUNCTOR_BIND_MEMBER(&Plane::update_flight_stage, void)};
-
+#if HAL_ADSB_ENABLED
     AP_ADSB adsb;
 
     // avoidance of adsb enabled vehicles (normally manned vheicles)
     AP_Avoidance_Plane avoidance_adsb{adsb};
+#endif
 
     // Outback Challenge Failsafe Support
 #if ADVANCED_FAILSAFE == ENABLED
diff --git a/ArduPlane/avoidance_adsb.cpp b/ArduPlane/avoidance_adsb.cpp
index 52ca298ea0..a7ca1530d8 100644
--- a/ArduPlane/avoidance_adsb.cpp
+++ b/ArduPlane/avoidance_adsb.cpp
@@ -2,6 +2,7 @@
 #include <stdio.h>
 #include "Plane.h"
 
+#if HAL_ADSB_ENABLED
 void Plane::avoidance_adsb_update(void)
 {
     adsb.update();
@@ -202,3 +203,5 @@ bool AP_Avoidance_Plane::handle_avoidance_horizontal(const AP_Avoidance::Obstacl
     return false;
 }
 
+#endif
+
diff --git a/ArduPlane/is_flying.cpp b/ArduPlane/is_flying.cpp
index 819c158b7e..5fe09e2e2c 100644
--- a/ArduPlane/is_flying.cpp
+++ b/ArduPlane/is_flying.cpp
@@ -154,7 +154,9 @@ void Plane::update_is_flying_5Hz(void)
         }
     }
     previous_is_flying = new_is_flying;
+#if HAL_ADSB_ENABLED
     adsb.set_is_flying(new_is_flying);
+#endif
 #if PARACHUTE == ENABLED
     parachute.set_is_flying(new_is_flying);
 #endif
diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index e660c7f5c7..74ac0138d4 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -72,8 +72,9 @@ bool Mode::enter()
 
         // start with throttle suppressed in auto_throttle modes
         plane.throttle_suppressed = plane.auto_throttle_mode;
-
+#if HAL_ADSB_ENABLED
         plane.adsb.set_is_auto_mode(plane.auto_navigation_mode);
+#endif
 
         // reset steering integrator on mode change
         plane.steerController.reset_I();