Sub: correct compilation when features disabled

Gripper
Mount

ArduSub/ArduSub.cpp

@@ -61,7 +61,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(accel_cal_update,      10,    100),
     SCHED_TASK(terrain_update,        10,    100),
 #if GRIPPER_ENABLED == ENABLED
-    SCHED_TASK_CLASS(AP_Gripper,          &g2.gripper,       update,              10,  75),
+    SCHED_TASK_CLASS(AP_Gripper,          &sub.g2.gripper,       update,              10,  75),
 #endif
 #ifdef USERHOOK_FASTLOOP
     SCHED_TASK(userhook_FastLoop,    100,     75),

ArduSub/GCS_Mavlink.cpp

@@ -837,7 +837,9 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
     }
 
     case MAVLINK_MSG_ID_PARAM_VALUE: {
+#if MOUNT == ENABLED
         sub.camera_mount.handle_param_value(msg);
+#endif
         break;
     }
 

ArduSub/Log.cpp

@@ -384,7 +384,6 @@ void Sub::Log_Write_Control_Tuning() {}
 void Sub::Log_Write_Performance() {}
 void Sub::Log_Write_Attitude(void) {}
 void Sub::Log_Write_MotBatt() {}
-void Sub::Log_Write_Startup() {}
 void Sub::Log_Write_Event(uint8_t id) {}
 void Sub::Log_Write_Data(uint8_t id, int32_t value) {}
 void Sub::Log_Write_Data(uint8_t id, uint32_t value) {}
@@ -395,6 +394,7 @@ void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
 void Sub::Log_Write_Home_And_Origin() {}
 void Sub::Log_Sensor_Health() {}
 void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
+void Sub::Log_Write_Vehicle_Startup_Messages() {}
 
 #if OPTFLOW == ENABLED
 void Sub::Log_Write_Optflow() {}

ArduSub/Parameters.h

@@ -2,6 +2,8 @@
 
 #include <AP_Common/AP_Common.h>
 
+#include <AP_Gripper/AP_Gripper.h>
+
 // Global parameter class.
 //
 class Parameters {

ArduSub/Sub.h

@@ -423,7 +423,7 @@ private:
 #endif
 
 #if AVOIDANCE_ENABLED == ENABLED
-    AC_Avoid avoid{ahrs, inertial_nav, fence, g2.proximity, &g2.beacon};
+    AC_Avoid avoid{ahrs, fence, g2.proximity, &g2.beacon};
 #endif
 
     // Rally library

ArduSub/joystick.cpp

@@ -168,9 +168,11 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
         break;
 
     case JSButton::button_function_t::k_mount_center:
+#if MOUNT == ENABLED
         camera_mount.set_angle_targets(0, 0, 0);
         // for some reason the call to set_angle_targets changes the mode to mavlink targeting!
         camera_mount.set_mode(MAV_MOUNT_MODE_RC_TARGETING);
+#endif
         break;
     case JSButton::button_function_t::k_mount_tilt_up:
         cam_tilt = 1900;

ArduSub/system.cpp

@@ -187,8 +187,10 @@ void Sub::init_ardupilot()
     mission.init();
 
     // initialise DataFlash library
+#if LOGGING_ENABLED == ENABLED
     DataFlash.set_mission(&mission);
     DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&sub, &Sub::Log_Write_Vehicle_Startup_Messages, void));
+#endif
 
     startup_INS_ground();