Copter: allow terrain to be excluded from build

ArduCopter/APM_Config.h

@@ -26,7 +26,8 @@
 //#define CAMERA                DISABLED            // disable camera trigger to save 1k of flash
 //#define CONFIG_SONAR          DISABLED            // disable sonar to save 1k of flash
 //#define POSHOLD_ENABLED       DISABLED            // disable PosHold flight mode to save 4.5k of flash
-//#define AC_RALLY              DISABLED            // disable rally points to save 2k of flash, and also frees rally point EEPROM for more mission commands
+//#define AC_RALLY              DISABLED            // disable rally points library (must also disable terrain which relies on rally)
+//#define AC_TERRAIN            DISABLED            // disable terrain library
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
 //#define EPM_ENABLED           DISABLED            // disable epm cargo gripper to save 500bytes of flash
 //#define CLI_ENABLED           DISABLED            // disable the CLI (command-line-interface) to save 21K of flash space

ArduCopter/ArduCopter.cpp

@@ -502,7 +502,7 @@ void Copter::one_hz_loop()
 
     check_usb_mux();
 
-#if AP_TERRAIN_AVAILABLE
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
     terrain.update();
 
     // tell the rangefinder our height, so it can go into power saving

ArduCopter/Copter.cpp

@@ -120,7 +120,7 @@ Copter::Copter(void) :
 #if PARACHUTE == ENABLED
     parachute(relay),
 #endif
-#if AP_TERRAIN_AVAILABLE
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
     terrain(ahrs, mission, rally),
 #endif
 #if PRECISION_LANDING == ENABLED

ArduCopter/Copter.h

@@ -500,7 +500,7 @@ private:
     AP_LandingGear landinggear;
 
     // terrain handling
-#if AP_TERRAIN_AVAILABLE
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
     AP_Terrain terrain;
 #endif
 

ArduCopter/GCS_Mavlink.cpp

@@ -219,7 +219,7 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
         battery_current = battery.current_amps() * 100;
     }
 
-#if AP_TERRAIN_AVAILABLE
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
     switch (terrain.status()) {
     case AP_Terrain::TerrainStatusDisabled:
         break;
@@ -642,7 +642,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         break;
 
     case MSG_TERRAIN:
-#if AP_TERRAIN_AVAILABLE
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
         CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
         copter.terrain.send_request(chan);
 #endif
@@ -961,7 +961,7 @@ GCS_MAVLINK::data_stream_send(void)
         send_message(MSG_HWSTATUS);
         send_message(MSG_SYSTEM_TIME);
         send_message(MSG_RANGEFINDER);
-#if AP_TERRAIN_AVAILABLE
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
         send_message(MSG_TERRAIN);
 #endif
         send_message(MSG_BATTERY2);
@@ -1828,7 +1828,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     case MAVLINK_MSG_ID_TERRAIN_DATA:
     case MAVLINK_MSG_ID_TERRAIN_CHECK:
-#if AP_TERRAIN_AVAILABLE
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
         copter.terrain.handle_data(chan, msg);
 #endif
         break;

ArduCopter/Parameters.cpp

@@ -1056,7 +1056,7 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(sonar,   "RNGFND", RangeFinder),
 #endif
 
-#if AP_TERRAIN_AVAILABLE
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
     // @Group: TERRAIN_
     // @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
     GOBJECT(terrain,                "TERRAIN_", AP_Terrain),

ArduCopter/config.h

@@ -738,6 +738,13 @@
  #define AC_RALLY   ENABLED
 #endif
 
+#ifndef AC_TERRAIN
+ #define AC_TERRAIN ENABLED
+ #if !AC_RALLY
+  #error Terrain relies on Rally which is disabled
+ #endif
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Developer Items
 //