From 29cd0ab179bf135f7a78d7fd8b27287e2cf8a847 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 14:57:07 +1100
Subject: [PATCH] AP_Mission: remove AP_MISSION_ENABLED special-cases

these are static methods which are called when they really shouldn't be
---
 libraries/AP_Mission/AP_Mission.cpp | 25 +++++++------------------
 1 file changed, 7 insertions(+), 18 deletions(-)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 2fd101c8fa..e13dadf3dc 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -2,18 +2,19 @@
 /// @brief   Handles the MAVLINK command mission stack.  Reads and writes mission to storage.
 
 #include "AP_Mission_config.h"
-#include <AP_Vehicle/AP_Vehicle_Type.h>
-#include <AP_Gripper/AP_Gripper_config.h>
-#include <GCS_MAVLink/GCS.h>
 
 #if AP_MISSION_ENABLED
 
-#include "AP_Mission.h"
-#include <AP_Terrain/AP_Terrain.h>
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Camera/AP_Camera.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_Camera/AP_Camera.h>
+#include <AP_Gripper/AP_Gripper_config.h>
+#include "AP_Mission.h"
+#include <AP_Scripting/AP_Scripting.h>
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents_config.h>
+#include <AP_Terrain/AP_Terrain.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <GCS_MAVLink/GCS.h>
 #include <RC_Channel/RC_Channel_config.h>
 
 const AP_Param::GroupInfo AP_Mission::var_info[] = {
@@ -836,8 +837,6 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
     return true;
 }
 
-#endif  // AP_MISSION_ENABLED
-
 bool AP_Mission::stored_in_location(uint16_t id)
 {
     switch (id) {
@@ -864,8 +863,6 @@ bool AP_Mission::stored_in_location(uint16_t id)
     }
 }
 
-#if AP_MISSION_ENABLED
-
 /// write_cmd_to_storage - write a command to storage
 ///     index is used to calculate the storage location
 ///     true is returned if successful
@@ -939,8 +936,6 @@ void AP_Mission::write_home_to_storage()
     write_cmd_to_storage(0,home_cmd);
 }
 
-#endif  // AP_MISSION_ENABLED
-
 MAV_MISSION_RESULT AP_Mission::sanity_check_params(const mavlink_mission_item_int_t& packet)
 {
     uint8_t nan_mask;
@@ -1510,8 +1505,6 @@ MAV_MISSION_RESULT AP_Mission::convert_MISSION_ITEM_INT_to_MISSION_ITEM(const ma
     return MAV_MISSION_ACCEPTED;
 }
 
-#if AP_MISSION_ENABLED
-
 // mission_cmd_to_mavlink_int - converts an AP_Mission::Mission_Command object to a mavlink message which can be sent to the GCS
 //  return true on success, false on failure
 //  NOTE: callers to this method current fill parts of "packet" in before calling this method, so do NOT attempt to zero the entire packet in here
@@ -2746,8 +2739,6 @@ bool AP_Mission::contains_item(MAV_CMD command) const
     return false;
 }
 
-#endif  // AP_MISSION_ENABLED
-
 /*
   return true if the mission item has a location
 */
@@ -2757,8 +2748,6 @@ bool AP_Mission::cmd_has_location(const uint16_t command)
     return stored_in_location(command);
 }
 
-#if AP_MISSION_ENABLED
-
 /*
   return true if the mission has a terrain relative item.  ~2200us for 530 items on H7
  */