RC_Channel: produce error if feature compiled out and aux func initia…

…lised
ArduPilot · Jul 4, 2024 · 6ce7e17 · 6ce7e17
1 parent ce48932
commit 6ce7e17
Showing 1 changed file with 42 additions and 4 deletions.
diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
@@ -626,26 +626,41 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     // the following functions do not need to be initialised:
     case AUX_FUNC::ARMDISARM:
     case AUX_FUNC::ARMDISARM_AIRMODE:
+#if AP_BATTERY_ENABLED
     case AUX_FUNC::BATTERY_MPPT_ENABLE:
+#endif
+#if AP_CAMERA_ENABLED
     case AUX_FUNC::CAMERA_TRIGGER:
+#endif
     case AUX_FUNC::CLEAR_WP:
     case AUX_FUNC::COMPASS_LEARN:
     case AUX_FUNC::DISARM:
     case AUX_FUNC::DO_NOTHING:
+#if AP_LANDINGGEAR_ENABLED
     case AUX_FUNC::LANDING_GEAR:
+#endif
     case AUX_FUNC::LOST_VEHICLE_SOUND:
+#if AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
     case AUX_FUNC::RELAY:
     case AUX_FUNC::RELAY2:
     case AUX_FUNC::RELAY3:
     case AUX_FUNC::RELAY4:
     case AUX_FUNC::RELAY5:
     case AUX_FUNC::RELAY6:
+#endif
+#if HAL_VISUALODOM_ENABLED
     case AUX_FUNC::VISODOM_ALIGN:
+#endif
     case AUX_FUNC::EKF_LANE_SWITCH:
     case AUX_FUNC::EKF_YAW_RESET:
+#if HAL_GENERATOR_ENABLED
     case AUX_FUNC::GENERATOR: // don't turn generator on or off initially
+#endif
     case AUX_FUNC::EKF_POS_SOURCE:
+#if HAL_TORQEEDO_ENABLED
     case AUX_FUNC::TORQEEDO_CLEAR_ERR:
+#endif
+#if AP_SCRIPTING_ENABLED
     case AUX_FUNC::SCRIPTING_1:
     case AUX_FUNC::SCRIPTING_2:
     case AUX_FUNC::SCRIPTING_3:
@@ -654,21 +669,30 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     case AUX_FUNC::SCRIPTING_6:
     case AUX_FUNC::SCRIPTING_7:
     case AUX_FUNC::SCRIPTING_8:
+#endif
 #if AP_VIDEOTX_ENABLED
     case AUX_FUNC::VTX_POWER:
 #endif
+#if AP_OPTICALFLOW_CALIBRATOR_ENABLED
     case AUX_FUNC::OPTFLOW_CAL:
+#endif
     case AUX_FUNC::TURBINE_START:
+#if HAL_MOUNT_ENABLED
     case AUX_FUNC::MOUNT1_ROLL:
     case AUX_FUNC::MOUNT1_PITCH:
     case AUX_FUNC::MOUNT1_YAW:
     case AUX_FUNC::MOUNT2_ROLL:
     case AUX_FUNC::MOUNT2_PITCH:
     case AUX_FUNC::MOUNT2_YAW:
+#endif
     case AUX_FUNC::LOWEHEISER_STARTER:
     case AUX_FUNC::MAG_CAL:
+#if AP_CAMERA_ENABLED
     case AUX_FUNC::CAMERA_IMAGE_TRACKING:
+#endif
+#if HAL_MOUNT_ENABLED
     case AUX_FUNC::MOUNT_LRF_ENABLE:
+#endif
         break;
 
     // not really aux functions:
@@ -678,9 +702,13 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     case AUX_FUNC::AVOID_ADSB:
 #endif
     case AUX_FUNC::AVOID_PROXIMITY:
+#if AP_FENCE_ENABLED
     case AUX_FUNC::FENCE:
+#endif
+#if AP_GPS_ENABLED
     case AUX_FUNC::GPS_DISABLE:
     case AUX_FUNC::GPS_DISABLE_YAW:
+#endif
 #if AP_GRIPPER_ENABLED
     case AUX_FUNC::GRIPPER:
 #endif
@@ -692,22 +720,30 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     case AUX_FUNC::MISSION_RESET:
     case AUX_FUNC::MOTOR_ESTOP:
     case AUX_FUNC::RC_OVERRIDE_ENABLE:
+#if HAL_RUNCAM_ENABLED
     case AUX_FUNC::RUNCAM_CONTROL:
     case AUX_FUNC::RUNCAM_OSD_CONTROL:
+#endif
+#if HAL_SPRAYER_ENABLED
     case AUX_FUNC::SPRAYER:
+#endif
     case AUX_FUNC::DISABLE_AIRSPEED_USE:
     case AUX_FUNC::FFT_NOTCH_TUNE:
 #if HAL_MOUNT_ENABLED
     case AUX_FUNC::RETRACT_MOUNT1:
     case AUX_FUNC::MOUNT_LOCK:
 #endif
+#if HAL_LOGGING_ENABLED
     case AUX_FUNC::LOG_PAUSE:
+#endif
     case AUX_FUNC::ARM_EMERGENCY_STOP:
+#if AP_CAMERA_ENABLED
     case AUX_FUNC::CAMERA_REC_VIDEO:
     case AUX_FUNC::CAMERA_ZOOM:
     case AUX_FUNC::CAMERA_MANUAL_FOCUS:
     case AUX_FUNC::CAMERA_AUTO_FOCUS:
     case AUX_FUNC::CAMERA_LENS:
+#endif
     case AUX_FUNC::AHRS_TYPE:
         run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
         break;
@@ -1049,9 +1085,9 @@ bool RC_Channel::do_aux_function_camera_lens(const AuxSwitchPos ch_flag)
 }
 #endif // AP_CAMERA_ENABLED
 
+#if HAL_RUNCAM_ENABLED
 void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag)
 {
-#if HAL_RUNCAM_ENABLED
     AP_RunCam *runcam = AP::runcam();
     if (runcam == nullptr) {
         return;
@@ -1068,12 +1104,10 @@ void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag)
         runcam->stop_recording();
         break;
     }
-#endif
 }
 
 void RC_Channel::do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag)
 {
-#if HAL_RUNCAM_ENABLED
     AP_RunCam *runcam = AP::runcam();
     if (runcam == nullptr) {
         return;
@@ -1088,8 +1122,8 @@ void RC_Channel::do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag)
         runcam->exit_osd();
         break;
     }
-#endif
 }
+#endif
 
 #if AP_FENCE_ENABLED
 // enable or disable the fence
@@ -1328,13 +1362,15 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
         break;
 #endif  // AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
 
+#if HAL_RUNCAM_ENABLED
     case AUX_FUNC::RUNCAM_CONTROL:
         do_aux_function_runcam_control(ch_flag);
         break;
 
     case AUX_FUNC::RUNCAM_OSD_CONTROL:
         do_aux_function_runcam_osd_control(ch_flag);
         break;
+#endif
 
     case AUX_FUNC::CLEAR_WP:
         do_aux_function_clear_wp(ch_flag);
@@ -1415,6 +1451,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
     }
 #endif
 
+#if AP_GPS_ENABLED
     case AUX_FUNC::GPS_DISABLE:
         AP::gps().force_disable(ch_flag == AuxSwitchPos::HIGH);
 #if HAL_EXTERNAL_AHRS_ENABLED
@@ -1425,6 +1462,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
     case AUX_FUNC::GPS_DISABLE_YAW:
         AP::gps().set_force_disable_yaw(ch_flag == AuxSwitchPos::HIGH);
         break;
+#endif  // AP_GPS_ENABLED
 
 #if AP_AIRSPEED_ENABLED
     case AUX_FUNC::DISABLE_AIRSPEED_USE: {