AP_Frsky_Telem: fix for conditional compilation of bidir support

libraries/AP_Frsky_Telem/AP_Frsky_Backend.h

@@ -3,6 +3,10 @@
 #include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 
+#ifndef HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
+#define HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL 1
+#endif
+
 class AP_Frsky_Backend
 {
 public:
@@ -26,10 +30,13 @@ public:
     {
         return false;
     }
+
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
     virtual bool set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data)
     {
         return false;
     }
+#endif
 
     virtual void queue_text_message(MAV_SEVERITY severity, const char *text) { }
 

libraries/AP_Frsky_Telem/AP_Frsky_MAVlite.h

@@ -1,4 +1,5 @@
 #pragma once
+#include "AP_Frsky_Backend.h"
 
 /*
 
@@ -26,7 +27,6 @@
 
 */
 
-
 #define MAVLITE_MAX_PAYLOAD_LEN                 31 // 7 float params + cmd_id + options
 #define MAVLITE_MSG_SPORT_PACKETS_COUNT(LEN)    static_cast<uint8_t>(1 + ceilf((LEN-2)/5.0f)) // number of sport packets required to transport a message with LEN payload
 #define SPORT_PACKET_QUEUE_LENGTH               static_cast<uint8_t>(30U*MAVLITE_MSG_SPORT_PACKETS_COUNT(MAVLITE_MAX_PAYLOAD_LEN))

libraries/AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp

@@ -5,6 +5,7 @@
 
 extern const AP_HAL::HAL& hal;
 
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
 /*
  * Handle the COMMAND_LONG mavlite message
  * for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
@@ -284,3 +285,4 @@ bool AP_Frsky_MAVliteMsgHandler::send_message(AP_Frsky_MAVlite_Message &txmsg)
 {
     return _send_fn(txmsg);
 }
+#endif

libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_MAVliteToSPort.cpp

@@ -4,6 +4,7 @@
 
 #include "AP_Frsky_SPort.h"
 
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
 void AP_Frsky_MAVlite_MAVliteToSPort::reset()
 {
     checksum = 0;
@@ -96,3 +97,4 @@ void AP_Frsky_MAVlite_MAVliteToSPort::process_byte(const uint8_t b, ObjectBuffer
         packet_offs = 2;  // skip setting sensorid and frame
     }
 }
+#endif

libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_MAVliteToSPort.h

@@ -7,6 +7,7 @@
 
 #include <stdint.h>
 
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
 /*
  * An instance of this class encodes a MAVlite message into several
  * SPort packets, and pushes them onto the supplied queue.
@@ -50,3 +51,4 @@ private:
     int16_t checksum;                       // sent at end of packet
     void update_checksum(const uint8_t c);
 };
+#endif

libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_Message.cpp

@@ -2,6 +2,7 @@
 
 #include <AP_Math/AP_Math.h>
 
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
 bool AP_Frsky_MAVlite_Message::get_bytes(uint8_t *bytes, const uint8_t offset, const uint8_t count) const
 {
     if (offset + count > MAVLITE_MAX_PAYLOAD_LEN) {
@@ -53,3 +54,4 @@ void AP_Frsky_MAVlite_Message::bit8_pack(uint8_t &value, const uint8_t bit_value
     }
     value |= (bit_value<<bit_offset) & mask;
 }
+#endif

libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_Message.h

@@ -6,6 +6,7 @@
 
 #include <stdint.h>
 
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
 class AP_Frsky_MAVlite_Message {
 public:
     // helpers
@@ -44,3 +45,4 @@ private:
     bool get_bytes(uint8_t *bytes, const uint8_t offset, const uint8_t count) const WARN_IF_UNUSED;
     bool set_bytes(const uint8_t *bytes,  const uint8_t offset, const uint8_t count) WARN_IF_UNUSED;
 };
+#endif

libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_SPortToMAVlite.cpp

@@ -2,6 +2,7 @@
 
 #include "AP_Frsky_MAVlite.h"
 
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
 void AP_Frsky_MAVlite_SPortToMAVlite::reset(void)
 {
     checksum = 0;
@@ -102,3 +103,4 @@ void AP_Frsky_MAVlite_SPortToMAVlite::parse(uint8_t byte)
         return;
     }
 }
+#endif

libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_SPortToMAVlite.h

@@ -5,6 +5,7 @@
 
 #include <stdint.h>
 
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
 /*
  * An instance of this class decodes a stream of SPort packets into a
  * MAVlite message (see AP_Frsky_MAVlite_Message.h).  It is expected
@@ -46,3 +47,4 @@ private:
     int16_t checksum;                       // sent at end of packet
     void update_checksum(const uint8_t c);
 };
+#endif

libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp

@@ -545,27 +545,6 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_attiandrng(void)
     return attiandrng;
 }
 
-#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
-/*
-  allow external transports (e.g. FPort), to supply telemetry data
- */
-bool AP_Frsky_SPort_Passthrough::set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data)
-{
-    // queue only Uplink packets
-    if (frame == SPORT_UPLINK_FRAME || frame == SPORT_UPLINK_FRAME_RW) {
-        const AP_Frsky_SPort::sport_packet_t sp {
-            0x00,   // this is ignored by process_sport_rx_queue() so no need for a real sensor ID
-            frame,
-            appid,
-            data
-        };
-
-        _SPort_bidir.rx_packet_queue.push_force(sp);
-        return true;
-    }
-    return false;
-}
-
 /*
   fetch Sport data for an external transport, such as FPort
  */
@@ -647,8 +626,26 @@ uint16_t AP_Frsky_SPort_Passthrough::prep_number(int32_t number, uint8_t digits,
     return res;
 }
 
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
+/*
+  allow external transports (e.g. FPort), to supply telemetry data
+ */
+bool AP_Frsky_SPort_Passthrough::set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data)
+{
+    // queue only Uplink packets
+    if (frame == SPORT_UPLINK_FRAME || frame == SPORT_UPLINK_FRAME_RW) {
+        const AP_Frsky_SPort::sport_packet_t sp {
+            0x00,   // this is ignored by process_sport_rx_queue() so no need for a real sensor ID
+            frame,
+            appid,
+            data
+        };
 
-
+        _SPort_bidir.rx_packet_queue.push_force(sp);
+        return true;
+    }
+    return false;
+}
 
 /*
  * Queue uplink packets in the sport rx queue

libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.h

@@ -43,7 +43,9 @@ public:
     bool get_next_msg_chunk(void) override;
 
     bool get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &data) override;
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
     bool set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data) override;
+#endif
 
     void queue_text_message(MAV_SEVERITY severity, const char *text) override
     {

libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp

@@ -89,6 +89,7 @@ bool AP_Frsky_Telem::_get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &
     return _backend->get_telem_data(frame, appid, data);
 }
 
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
 bool AP_Frsky_Telem::_set_telem_data(uint8_t frame, uint16_t appid, uint32_t data)
 {
     if (_backend == nullptr) {
@@ -96,6 +97,7 @@ bool AP_Frsky_Telem::_set_telem_data(uint8_t frame, uint16_t appid, uint32_t dat
     }
     return _backend->set_telem_data(frame, appid, data);
 }
+#endif
 
 /*
   fetch Sport data for an external transport, such as FPort
@@ -117,6 +119,7 @@ bool AP_Frsky_Telem::get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &d
     return singleton->_get_telem_data(frame, appid, data);
 }
 
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
 /*
   allow external transports (e.g. FPort), to supply telemetry data
  */
@@ -135,6 +138,7 @@ bool AP_Frsky_Telem::set_telem_data(const uint8_t frame, const uint16_t appid, c
     }
     return singleton->_set_telem_data(frame, appid, data);
 }
+#endif
 
 namespace AP
 {

libraries/AP_Frsky_Telem/AP_Frsky_Telem.h

@@ -14,10 +14,6 @@
 */
 #pragma once
 
-#ifndef HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
-#define HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL 1
-#endif
-
 #include "AP_Frsky_Backend.h"
 
 class AP_Frsky_Parameters;
@@ -57,12 +53,11 @@ public:
 private:
 
     AP_Frsky_Backend *_backend;
-
-#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
     AP_Frsky_Parameters* _frsky_parameters;
 
     // get next telemetry data for external consumers of SPort data (internal function)
     bool _get_telem_data(uint8_t &frame, uint16_t &appid, uint32_t &data);
+#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
     // set telemetry data from external producer of SPort data (internal function)
     bool _set_telem_data(const uint8_t frame, const uint16_t appid, const uint32_t data);
 #endif