Sub: Obey RANGEFINDER_ENABLED and AC_TERRAIN build macros

ArduSub/Parameters.cpp

@@ -85,6 +85,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Bitmask: 0:Roll,1:Pitch,2:Yaw
     GSCALAR(gcs_pid_mask,           "GCS_PID_MASK",     0),
 
+#if RANGEFINDER_ENABLED == ENABLED
     // @Param: RNGFND_GAIN
     // @DisplayName: Rangefinder gain
     // @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the sub
@@ -92,6 +93,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Increment: 0.01
     // @User: Standard
     GSCALAR(rangefinder_gain,     "RNGFND_GAIN",           RANGEFINDER_GAIN_DEFAULT),
+#endif
 
     // @Param: FS_BATT_ENABLE
     // @DisplayName: Battery Failsafe Enable
@@ -627,12 +629,14 @@ const AP_Param::Info Sub::var_info[] = {
     // @Path: ../libraries/AP_Notify/AP_Notify.cpp
     GOBJECT(notify, "NTF_",  AP_Notify),
 
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
     // @Param: TERRAIN_FOLLOW
     // @DisplayName: Terrain Following use control
     // @Description: This enables terrain following for RTL and SURFACE flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must  support sending terrain data to the aircraft.  In RTL the RTL_ALT will be considered a height above the terrain.  In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home).  This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain.
     // @Values: 0:Do Not Use in RTL and SURFACE,1:Use in RTL and SURFACE
     // @User: Standard
     GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0),
+#endif
 
     // @Group:
     // @Path: Parameters.cpp

ArduSub/Parameters.h

@@ -224,7 +224,9 @@ public:
 
     AP_Float        throttle_filt;
 
+#if RANGEFINDER_ENABLED == ENABLED
     AP_Float        rangefinder_gain;
+#endif
 
     AP_Int8         failsafe_battery_enabled;   // battery failsafe enabled
     AP_Float        fs_batt_voltage;            // battery voltage below which failsafe will be triggered
@@ -266,7 +268,9 @@ public:
     AP_Float        fs_ekf_thresh;
     AP_Int16        gcs_pid_mask;
 
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
     AP_Int8         terrain_follow;
+#endif
 
     AP_Int16        rc_speed; // speed of fast RC Channels in Hz