AP_Mount: add build options for deprecated messages MOUNT_CONTROL/MOUNT_CONFIGURE

these are repalced by the command equivalents

libraries/AP_Mount/AP_Mount.cpp

@@ -548,6 +548,7 @@ void AP_Mount::handle_global_position_int(const mavlink_message_t &msg)
     }
 }
 
+#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
 /// Change the configuration of the mount
 void AP_Mount::handle_mount_configure(const mavlink_message_t &msg)
 {
@@ -562,7 +563,9 @@ void AP_Mount::handle_mount_configure(const mavlink_message_t &msg)
     // send message to backend
     backend->handle_mount_configure(packet);
 }
+#endif
 
+#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
 /// Control the mount (depends on the previously set mount configuration)
 void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
 {
@@ -577,6 +580,7 @@ void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
     // send message to backend
     backend->handle_mount_control(packet);
 }
+#endif
 
 // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
 void AP_Mount::send_gimbal_device_attitude_status(mavlink_channel_t chan)
@@ -879,12 +883,16 @@ void AP_Mount::handle_message(mavlink_channel_t chan, const mavlink_message_t &m
     case MAVLINK_MSG_ID_GIMBAL_REPORT:
         handle_gimbal_report(chan, msg);
         break;
+#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
     case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
         handle_mount_configure(msg);
         break;
+#endif
+#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
     case MAVLINK_MSG_ID_MOUNT_CONTROL:
         handle_mount_control(msg);
         break;
+#endif
     case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
         handle_global_position_int(msg);
         break;

libraries/AP_Mount/AP_Mount.h

@@ -23,6 +23,7 @@
 
 #if HAL_MOUNT_ENABLED
 
+#include <GCS_MAVLink/GCS_config.h>
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
@@ -281,8 +282,12 @@ private:
     AP_Mount_Backend *get_instance(uint8_t instance) const;
 
     void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg);
+#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
     void handle_mount_configure(const mavlink_message_t &msg);
+#endif
+#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
     void handle_mount_control(const mavlink_message_t &msg);
+#endif
 
     MAV_RESULT handle_command_do_mount_configure(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_do_mount_control(const mavlink_command_int_t &packet);

libraries/AP_Mount/AP_Mount_Backend.cpp

@@ -108,11 +108,13 @@ void AP_Mount_Backend::set_target_sysid(uint8_t sysid)
     set_mode(MAV_MOUNT_MODE_SYSID_TARGET);
 }
 
+#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
 // process MOUNT_CONFIGURE messages received from GCS. deprecated.
 void AP_Mount_Backend::handle_mount_configure(const mavlink_mount_configure_t &packet)
 {
     set_mode((MAV_MOUNT_MODE)packet.mount_mode);
 }
+#endif
 
 // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
 void AP_Mount_Backend::send_gimbal_device_attitude_status(mavlink_channel_t chan)
@@ -212,6 +214,7 @@ void AP_Mount_Backend::send_gimbal_manager_status(mavlink_channel_t chan)
                                            0);                          // secondary control component id
 }
 
+#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
 // process MOUNT_CONTROL messages received from GCS. deprecated.
 void AP_Mount_Backend::handle_mount_control(const mavlink_mount_control_t &packet)
 {
@@ -247,6 +250,7 @@ void AP_Mount_Backend::handle_mount_control(const mavlink_mount_control_t &packe
         break;
     }
 }
+#endif
 
 // handle do_mount_control command.  Returns MAV_RESULT_ACCEPTED on success
 MAV_RESULT AP_Mount_Backend::handle_command_do_mount_control(const mavlink_command_int_t &packet)

libraries/AP_Mount/AP_Mount_Backend.h

@@ -99,12 +99,16 @@ public:
     // handle do_gimbal_manager_configure.  Returns MAV_RESULT_ACCEPTED on success
     // requires original message in order to extract caller's sysid and compid
     MAV_RESULT handle_command_do_gimbal_manager_configure(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
-    
+
+#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
     // process MOUNT_CONFIGURE messages received from GCS. deprecated.
     void handle_mount_configure(const mavlink_mount_configure_t &msg);
+#endif
 
+#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
     // process MOUNT_CONTROL messages received from GCS. deprecated.
     void handle_mount_control(const mavlink_mount_control_t &packet);
+#endif
 
     // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
     void send_gimbal_device_attitude_status(mavlink_channel_t chan);