From 0c1d6658187c12827ee7514f184d1693280bf134 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 6 Nov 2020 10:36:51 +1100
Subject: [PATCH] waf: support no-gcs and DAL builds

---
 Tools/ardupilotwaf/ardupilotwaf.py | 1 +
 Tools/ardupilotwaf/boards.py       | 4 ++++
 2 files changed, 5 insertions(+)

diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index e299136835..b7fbce49bf 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -36,6 +36,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
     'AP_InertialSensor',
     'AP_Math',
     'AP_Mission',
+    'AP_DAL',
     'AP_NavEKF',
     'AP_NavEKF2',
     'AP_NavEKF3',
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 7671683638..5218124926 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -64,6 +64,10 @@ class Board:
         else:
             cfg.options.disable_scripting = True
 
+        # allow GCS disable for AP_DAL example
+        if cfg.options.no_gcs:
+            env.CXXFLAGS += ['-DHAL_NO_GCS=1']
+            
         d = env.get_merged_dict()
         # Always prepend so that arguments passed in the command line get
         # the priority.