From 8e5c0fa32bfb5efb0a36090cc76e6a3f820caae7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 7 Jul 2019 18:05:51 +1000
Subject: [PATCH] AP_InertialSensor: disable kill IMUs with
 HAL_MINIMIZE_FEATURES

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index eec537ec7a..1683f97ec8 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -2045,6 +2045,7 @@ AP_InertialSensor::Gyro_Calibration_Timing AP_InertialSensor::gyro_calibration_t
     return (Gyro_Calibration_Timing)_gyro_cal_timing.get();
 }
 
+#if !HAL_MINIMIZE_FEATURES
 /*
   update IMU kill mask, used for testing IMU failover
  */
@@ -2067,6 +2068,7 @@ void AP_InertialSensor::kill_imu(uint8_t imu_idx, bool kill_it)
         imu_kill_mask &= ~(1U<<imu_idx);
     }
 }
+#endif // HAL_MINIMIZE_FEATURES
 
 
 namespace AP {