From 275457fd2cafa0f1525e4df3499c5235dc3f0d5c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 18 Sep 2021 09:48:29 +1000
Subject: [PATCH] AP_HAL_Linux: move from HAL_NO_GCS to HAL_GCS_ENABLED

---
 libraries/AP_HAL_Linux/UARTDriver.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_Linux/UARTDriver.cpp b/libraries/AP_HAL_Linux/UARTDriver.cpp
index b5d59780db..83bb6edac3 100644
--- a/libraries/AP_HAL_Linux/UARTDriver.cpp
+++ b/libraries/AP_HAL_Linux/UARTDriver.cpp
@@ -25,15 +25,15 @@
 #include "UDPDevice.h"
 
 #include <GCS_MAVLink/GCS.h>
+#if HAL_GCS_ENABLED
 #include <AP_HAL/utility/packetise.h>
+#endif
 
 extern const AP_HAL::HAL& hal;
 
 using namespace Linux;
 
 UARTDriver::UARTDriver(bool default_console) :
-    device_path(nullptr),
-    _packetise(false),
     _device{new ConsoleDevice()}
 {
     if (default_console) {
@@ -189,7 +189,9 @@ AP_HAL::OwnPtr<SerialDevice> UARTDriver::_parseDevicePath(const char *arg)
 
     if (strcmp(protocol, "udp") == 0 || strcmp(protocol, "udpin") == 0) {
         bool bcast = (_flag && strcmp(_flag, "bcast") == 0);
+#if HAL_GCS_ENABLED
         _packetise = true;
+#endif
         if (strcmp(protocol, "udp") == 0) {
             device = new UDPDevice(_ip, _base_port, bcast, false);
         } else {
@@ -391,10 +393,12 @@ bool UARTDriver::_write_pending_bytes(void)
     uint32_t available_bytes = _writebuf.available();
     uint16_t n = available_bytes;
 
+#if HAL_GCS_ENABLED
     if (_packetise && n > 0) {
         // send on MAVLink packet boundaries if possible
         n = mavlink_packetise(_writebuf, n);
     }
+#endif
 
     if (n > 0) {
         int ret;