From 21c9c62ed98b87bcc759f0a6c23df581a548de5d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 28 Aug 2022 19:04:31 +1000
Subject: [PATCH] waf: added OpenDroneID support

---
 Tools/ardupilotwaf/ardupilotwaf.py |  1 +
 Tools/ardupilotwaf/boards.py       | 22 ++++++++++++++++++++++
 wscript                            |  9 +++++++++
 3 files changed, 32 insertions(+)

diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index 70aaa64bad..34391a8791 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -90,6 +90,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
     'AC_PID',
     'AP_SerialLED',
     'AP_Hott_Telem',
+    'AP_OpenDroneID',
 ]
 
 def get_legacy_defines(sketch_name):
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 31f5e74f18..b17f2dff83 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -70,6 +70,26 @@ class Board:
         else:
             cfg.options.disable_scripting = True;
 
+        # allow enable of OpenDroneID for any board
+        if cfg.options.enable_opendroneid:
+            env.ENABLE_OPENDRONEID = True
+            env.DEFINES.update(
+                AP_OPENDRONEID_ENABLED=1,
+            )
+            cfg.msg("Enabled OpenDroneID", 'yes')
+        else:
+            cfg.msg("Enabled OpenDroneID", 'no', color='YELLOW')
+
+        # allow enable of firmware ID checking for any board
+        if cfg.options.enable_check_firmware:
+            env.CHECK_FIRMWARE_ENABLED = True
+            env.DEFINES.update(
+                AP_CHECK_FIRMWARE_ENABLED=1,
+            )
+            cfg.msg("Enabled firmware ID checking", 'yes')
+        else:
+            cfg.msg("Enabled firmware ID checking", 'no', color='YELLOW')
+            
         d = env.get_merged_dict()
         # Always prepend so that arguments passed in the command line get
         # the priority.
@@ -360,6 +380,8 @@ class sitl(Board):
             AP_SCRIPTING_CHECKS = 1, # SITL should always do runtime scripting checks
         )
 
+        cfg.define('AP_OPENDRONEID_ENABLED', 1)
+
         env.CXXFLAGS += [
             '-Werror=float-equal'
         ]
diff --git a/wscript b/wscript
index 598a902e3c..dcd30accc4 100644
--- a/wscript
+++ b/wscript
@@ -205,6 +205,15 @@ configuration in order to save typing.
         default=False,
         help='Force a static build')
 
+    g.add_option('--enable-opendroneid', action='store_true',
+                 default=False,
+                 help="Enables OpenDroneID")
+
+    g.add_option('--enable-check-firmware', action='store_true',
+                 default=False,
+                 help="Enables firmware ID checking on boot")
+
+
 def _collect_autoconfig_files(cfg):
     for m in sys.modules.values():
         paths = []