From 199074ce34b383d9d244de17e61fff718045455e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 10 Nov 2024 18:15:08 +1100
Subject: [PATCH] AP_GPS: add specific defines for sending of GPS mavlink
 messages

---
 libraries/AP_GPS/AP_GPS.cpp      |  8 +++++---
 libraries/AP_GPS/AP_GPS_config.h | 17 +++++++++++++++++
 libraries/AP_GPS/GPS_Backend.cpp |  5 +++--
 libraries/AP_GPS/GPS_Backend.h   |  2 ++
 4 files changed, 27 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 070276dd45..79a69b88b2 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -1367,6 +1367,7 @@ uint16_t AP_GPS::gps_yaw_cdeg(uint8_t instance) const
     return yaw_cd;
 }
 
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
 void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
 {
     const Location &loc = location(0);
@@ -1400,8 +1401,9 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
         0,                    // TODO one-sigma heading accuracy standard deviation
         gps_yaw_cdeg(0));
 }
+#endif  // AP_GPS_GPS_RAW_INT_SENDING_ENABLED
 
-#if GPS_MAX_RECEIVERS > 1
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
 void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
 {
     // always send the message if 2nd GPS is configured
@@ -1442,9 +1444,9 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
         sacc * 1000,          // one-sigma standard deviation in mm/s
         0);                    // TODO one-sigma heading accuracy standard deviation
 }
-#endif // GPS_MAX_RECEIVERS
+#endif // AP_GPS_GPS2_RAW_SENDING_ENABLED
 
-#if HAL_GCS_ENABLED
+#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
 void AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan, uint8_t inst)
 {
     if (inst >= GPS_MAX_RECEIVERS) {
diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h
index 08ebdac605..467c056ab4 100644
--- a/libraries/AP_GPS/AP_GPS_config.h
+++ b/libraries/AP_GPS/AP_GPS_config.h
@@ -104,3 +104,20 @@
 #ifndef HAL_GPS_COM_PORT_DEFAULT
 #define HAL_GPS_COM_PORT_DEFAULT 1
 #endif
+
+
+#ifndef AP_GPS_GPS_RAW_INT_SENDING_ENABLED
+#define AP_GPS_GPS_RAW_INT_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED
+#endif
+
+#ifndef AP_GPS_GPS2_RAW_SENDING_ENABLED
+#define AP_GPS_GPS2_RAW_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1
+#endif
+
+#ifndef AP_GPS_GPS_RTK_SENDING_ENABLED
+#define AP_GPS_GPS_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED
+#endif
+
+#ifndef AP_GPS_GPS2_RTK_SENDING_ENABLED
+#define AP_GPS_GPS2_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1
+#endif
diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index eb55bd76e4..380730a9af 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -172,7 +172,7 @@ bool AP_GPS_Backend::should_log() const
 #endif
 
 
-#if HAL_GCS_ENABLED
+#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
 void AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan)
 {
     const uint8_t instance = state.instance;
@@ -212,7 +212,8 @@ void AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan)
             break;
     }
 }
-#endif
+#endif  // AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
+
 
 
 /*
diff --git a/libraries/AP_GPS/GPS_Backend.h b/libraries/AP_GPS/GPS_Backend.h
index 70f4cb36fc..2a70a1c571 100644
--- a/libraries/AP_GPS/GPS_Backend.h
+++ b/libraries/AP_GPS/GPS_Backend.h
@@ -71,7 +71,9 @@ public:
 #if HAL_GCS_ENABLED
     //MAVLink methods
     virtual bool supports_mavlink_gps_rtk_message() const { return false; }
+#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
     virtual void send_mavlink_gps_rtk(mavlink_channel_t chan);
+#endif
     virtual void handle_msg(const mavlink_message_t &msg) { return ; }
 #endif