GCS_MAVLink: Add AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED guard

ArduPilot · Aug 4, 2024 · 3447e4f · 3447e4f
1 parent cbce03d
commit 3447e4f
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Showing 4 changed files with 12 additions and 0 deletions.
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
@@ -402,12 +402,14 @@ class GCS_MAVLINK
     void send_uavionix_adsb_out_status() const;
     void send_autopilot_state_for_gimbal_device() const;
 
+#if AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED
     struct {
         MAV_LANDED_STATE last_landed_state;
         uint64_t takeoff_time_us;
     } flight_info;
 
     void send_flight_information();
+#endif
 
     // lock a channel, preventing use by MAVLink
     void lock(bool _lock) {

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -5964,6 +5964,7 @@ void GCS_MAVLINK::send_autopilot_state_for_gimbal_device() const
 #endif  // AP_AHRS_ENABLED
 }
 
+#if AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED
 void GCS_MAVLINK::send_flight_information()
 {
     const uint32_t time_boot_us = AP_HAL::millis64();
@@ -6013,6 +6014,7 @@ void GCS_MAVLINK::send_flight_information()
         flight_number
     );
 }
+#endif // AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED
 
 void GCS_MAVLINK::send_received_message_deprecation_warning(const char * message)
 {
@@ -6445,10 +6447,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         break;
 #endif
 
+#if AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED
     case MSG_FLIGHT_INFORMATION:
         CHECK_PAYLOAD_SIZE(FLIGHT_INFORMATION);
         send_flight_information();
         break;
+#endif
 
     default:
         // try_send_message must always at some stage return true for

diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
@@ -135,3 +135,7 @@
 #ifndef AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED
 #define AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED (BOARD_FLASH_SIZE > 1024)
 #endif
+
+#ifndef AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED
+#define AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED 1
+#endif
diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
@@ -97,6 +97,8 @@ enum ap_message : uint8_t {
 #if AP_MAVLINK_MSG_HIGHRES_IMU_ENABLED
     MSG_HIGHRES_IMU,
 #endif
+#if AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED
     MSG_FLIGHT_INFORMATION,
+#endif
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };