Copter: obey ADSB_ENABLED == DISABLED

ArduCopter/AP_Arming.cpp

@@ -242,12 +242,14 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
         }
 
         // check adsb avoidance failsafe
+#if ADSB_ENABLED == ENABLE
         if (copter.failsafe.adsb) {
             if (display_failure) {
                 gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ADSB threat detected");
             }
             return false;
         }
+#endif
 
         // check for something close to vehicle
         if (!pre_arm_proximity_check(display_failure)) {
@@ -630,6 +632,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
     }
 
     // check adsb
+#if ADSB_ENABLED == ENABLE
     if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
         if (copter.failsafe.adsb) {
             if (display_failure) {
@@ -638,6 +641,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
             return false;
         }
     }
+#endif
 
     // check throttle
     if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) {

ArduCopter/ArduCopter.cpp

@@ -422,7 +422,9 @@ void Copter::one_hz_loop()
     // log terrain data
     terrain_logging();
 
+#if ADSB_ENABLED == ENABLED
     adsb.set_is_flying(!ap.land_complete);
+#endif
 
     // update error mask of sensors and subsystems. The mask uses the
     // MAV_SYS_STATUS_* values from mavlink. If a bit is set then it

ArduCopter/Copter.h

@@ -151,7 +151,9 @@
 
 // Local modules
 #include "Parameters.h"
+#if ADSB_ENABLED == ENABLED
 #include "avoidance_adsb.h"
+#endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
@@ -552,10 +554,12 @@ private:
     AC_InputManager_Heli input_manager;
 #endif
 
+#if ADSB_ENABLED == ENABLED
     AP_ADSB adsb{ahrs};
 
     // avoidance of adsb enabled vehicles (normally manned vehicles)
     AP_Avoidance_Copter avoidance_adsb{ahrs, adsb};
+#endif
 
     // use this to prevent recursion during sensor init
     bool in_mavlink_delay;
@@ -652,8 +656,10 @@ private:
     void rotate_body_frame_to_NE(float &x, float &y);
     uint16_t get_pilot_speed_dn();
 
+#if ADSB_ENABLED == ENABLED
     // avoidance_adsb.cpp
     void avoidance_adsb_update(void);
+#endif
 
     // baro_ground_effect.cpp
     void update_ground_effect_detector(void);
@@ -965,7 +971,9 @@ private:
     ModeStabilize mode_stabilize;
 #endif
     ModeSport mode_sport;
+#if ADSB_ENABLED == ENABLED
     ModeAvoidADSB mode_avoid_adsb;
+#endif
     ModeThrow mode_throw;
     ModeGuidedNoGPS mode_guided_nogps;
     ModeSmartRTL mode_smartrtl;

ArduCopter/GCS_Mavlink.cpp

@@ -453,8 +453,10 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
         break;
 
     case MSG_ADSB_VEHICLE:
+#if ADSB_ENABLED == ENABLED
         CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
         copter.adsb.send_adsb_vehicle(chan);
+#endif
         break;
     case MSG_BATTERY_STATUS:
         send_battery_status(copter.battery);
@@ -683,10 +685,12 @@ void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &
 void GCS_MAVLINK_Copter::packetReceived(const mavlink_status_t &status,
                                         mavlink_message_t &msg)
 {
+#if ADSB_ENABLED == ENABLED
     if (copter.g2.dev_options.get() & DevOptionADSBMAVLink) {
         // optional handling of GLOBAL_POSITION_INT as a MAVLink based avoidance source
         copter.avoidance_adsb.handle_msg(msg);
     }
+#endif
     GCS_MAVLINK::packetReceived(status, msg);
 }
 

ArduCopter/Parameters.cpp

@@ -761,6 +761,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AP_RPM/AP_RPM.cpp
     GOBJECT(rpm_sensor, "RPM", AP_RPM),
 
+#if ADSB_ENABLED == ENABLED
     // @Group: ADSB_
     // @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
     GOBJECT(adsb,                "ADSB_", AP_ADSB),
@@ -768,6 +769,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Group: AVD_
     // @Path: ../libraries/AP_Avoidance/AP_Avoidance.cpp
     GOBJECT(avoidance_adsb, "AVD_", AP_Avoidance_Copter),
+#endif
 
     // @Param: AUTOTUNE_AXES
     // @DisplayName: Autotune axis bitmask

ArduCopter/avoidance_adsb.cpp

@@ -1,6 +1,7 @@
 #include "Copter.h"
 #include <AP_Notify/AP_Notify.h>
 
+#if ADSB_ENABLED == ENABLED
 void Copter::avoidance_adsb_update(void)
 {
     adsb.update();
@@ -247,3 +248,4 @@ bool AP_Avoidance_Copter::handle_avoidance_perpendicular(const AP_Avoidance::Obs
     // if we got this far we failed to set the new target
     return false;
 }
+#endif

ArduCopter/mode.cpp

@@ -104,9 +104,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
             ret = &mode_throw;
             break;
 
+#if ADSB_ENABLED == ENABLED
         case AVOID_ADSB:
             ret = &mode_avoid_adsb;
             break;
+#endif
 
         case GUIDED_NOGPS:
             ret = &mode_guided_nogps;
@@ -177,7 +179,9 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
     control_mode_reason = reason;
     DataFlash.Log_Write_Mode(control_mode);
 
+#if ADSB_ENABLED == ENABLED
     adsb.set_is_auto_mode((mode == AUTO) || (mode == RTL) || (mode == GUIDED));
+#endif
 
 #if AC_FENCE == ENABLED
     // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover

ArduCopter/switches.cpp

@@ -554,6 +554,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             break;
 
         case AUXSW_AVOID_ADSB:
+#if ADSB_ENABLED == ENABLED
             // enable or disable AP_Avoidance
             if (ch_flag == AUX_SWITCH_HIGH) {
                 avoidance_adsb.enable();
@@ -562,6 +563,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                 avoidance_adsb.disable();
                 Log_Write_Event(DATA_AVOIDANCE_ADSB_DISABLE);
             }
+#endif
             break;
 
         case AUXSW_PRECISION_LOITER: