AP_OpticalFlow: allow separate enable of MSP opticalflow

libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.cpp

@@ -17,12 +17,14 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include "AP_OpticalFlow_MSP.h"
 
-#if HAL_MSP_ENABLED
+#if HAL_MSP_OPTICALFLOW_ENABLED
 
 #define OPTFLOW_MSP_TIMEOUT_SEC 0.5f // 2Hz
 
 extern const AP_HAL::HAL& hal;
 
+using namespace MSP;
+
 // detect the device
 AP_OpticalFlow_MSP *AP_OpticalFlow_MSP::detect(OpticalFlow &_frontend)
 {
@@ -89,7 +91,7 @@ void AP_OpticalFlow_MSP::update(void)
 }
 
 // handle OPTICAL_FLOW msp messages
-void AP_OpticalFlow_MSP::handle_msp(const msp_opflow_sensor_t &pkt)
+void AP_OpticalFlow_MSP::handle_msp(const MSP::msp_opflow_sensor_t &pkt)
 {
     // record time message was received
     // ToDo: add jitter correction
@@ -102,4 +104,5 @@ void AP_OpticalFlow_MSP::handle_msp(const msp_opflow_sensor_t &pkt)
     count++;
 }
 
-#endif //HAL_MSP_ENABLED
+#endif // HAL_MSP_OPTICALFLOW_ENABLED
+

libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.h

@@ -3,7 +3,7 @@
 #include "OpticalFlow.h"
 #include <AP_HAL/utility/OwnPtr.h>
 
-#if HAL_MSP_ENABLED
+#if HAL_MSP_OPTICALFLOW_ENABLED
 
 class AP_OpticalFlow_MSP : public OpticalFlow_backend
 {
@@ -18,7 +18,7 @@ public:
     void update(void) override;
 
     // get update from msp
-    void handle_msp(const msp_opflow_sensor_t &pkt) override;
+    void handle_msp(const MSP::msp_opflow_sensor_t &pkt) override;
 
     // detect if the sensor is available
     static AP_OpticalFlow_MSP *detect(OpticalFlow &_frontend);
@@ -34,4 +34,4 @@ private:
     uint16_t gyro_sum_count;            // number of gyro sensor values in sum
 };
 
-#endif //HAL_MSP_ENABLED
+#endif // HAL_MSP_OPTICALFLOW_ENABLED

libraries/AP_OpticalFlow/OpticalFlow.cpp

@@ -137,9 +137,9 @@ void OpticalFlow::init(uint32_t log_bit)
 #endif
         break;
     case OpticalFlowType::MSP:
-#if HAL_MSP_ENABLED
+#if HAL_MSP_OPTICALFLOW_ENABLED
         backend = AP_OpticalFlow_MSP::detect(*this);
-#endif //HAL_MSP_ENABLED
+#endif
         break;
     case OpticalFlowType::SITL:
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@@ -179,8 +179,8 @@ void OpticalFlow::handle_msg(const mavlink_message_t &msg)
     }
 }
 
-#if HAL_MSP_ENABLED
-void OpticalFlow::handle_msp(const msp_opflow_sensor_t &pkt)
+#if HAL_MSP_OPTICALFLOW_ENABLED
+void OpticalFlow::handle_msp(const MSP::msp_opflow_sensor_t &pkt)
 {
     // exit immediately if not enabled
     if (!enabled()) {
@@ -191,7 +191,7 @@ void OpticalFlow::handle_msp(const msp_opflow_sensor_t &pkt)
         backend->handle_msp(pkt);
     }
 }
-#endif //HAL_MSP_ENABLED
+#endif //HAL_MSP_OPTICALFLOW_ENABLED
 
 void OpticalFlow::update_state(const OpticalFlow_state &state)
 {

libraries/AP_OpticalFlow/OpticalFlow.h

@@ -24,9 +24,10 @@
 #include <AP_Math/AP_Math.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 
-#if HAL_MSP_ENABLED
-using namespace MSP;
-#endif //HAL_MSP_ENABLED
+
+#ifndef HAL_MSP_OPTICALFLOW_ENABLED
+#define HAL_MSP_OPTICALFLOW_ENABLED HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES
+#endif
 
 class OpticalFlow_backend;
 class AP_AHRS_NavEKF;
@@ -74,10 +75,10 @@ public:
     // handle optical flow mavlink messages
     void handle_msg(const mavlink_message_t &msg);
 
-#if HAL_MSP_ENABLED
+#if HAL_MSP_OPTICALFLOW_ENABLED
     // handle optical flow msp messages
-    void handle_msp(const msp_opflow_sensor_t &pkt);
-#endif //HAL_MSP_ENABLED
+    void handle_msp(const MSP::msp_opflow_sensor_t &pkt);
+#endif
 
     // quality - returns the surface quality as a measure from 0 ~ 255
     uint8_t quality() const { return _state.surface_quality; }

libraries/AP_OpticalFlow/OpticalFlow_backend.h

@@ -38,10 +38,11 @@ public:
     // handle optical flow mavlink messages
     virtual void handle_msg(const mavlink_message_t &msg) {}
 
-#if HAL_MSP_ENABLED
+#if HAL_MSP_OPTICALFLOW_ENABLED
     // handle optical flow msp messages
     virtual void handle_msp(const MSP::msp_opflow_sensor_t &pkt) {}
 #endif
+
 protected:
     // access to frontend
     OpticalFlow &frontend;