From 368593c2c6452ebaa88b95383d6dffd5739323b4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 9 Dec 2023 15:05:08 +1100
Subject: [PATCH] AP_Mission: correct compilation when AP_MISSION_ENABLED is
 false

---
 libraries/AP_Mission/AP_Mission.cpp          | 24 +++++++++++++++++---
 libraries/AP_Mission/AP_Mission_Commands.cpp |  6 +++++
 2 files changed, 27 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 22d6f60c36..c8fabcdd8c 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -1,13 +1,17 @@
 /// @file    AP_Mission.cpp
 /// @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 <GCS_MAVLink/GCS.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Camera/AP_Camera.h>
-#include <AP_Gripper/AP_Gripper_config.h>
-#include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents_config.h>
 #include <RC_Channel/RC_Channel_config.h>
@@ -828,6 +832,8 @@ 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) {
@@ -854,6 +860,8 @@ 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
@@ -926,6 +934,8 @@ 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;
@@ -1486,6 +1496,8 @@ 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
@@ -2717,6 +2729,8 @@ bool AP_Mission::contains_item(MAV_CMD command) const
     return false;
 }
 
+#endif  // AP_MISSION_ENABLED
+
 /*
   return true if the mission item has a location
 */
@@ -2726,6 +2740,8 @@ 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
  */
@@ -2901,3 +2917,5 @@ AP_Mission *mission()
 }
 
 }
+
+#endif  // AP_MISSION_ENABLED
diff --git a/libraries/AP_Mission/AP_Mission_Commands.cpp b/libraries/AP_Mission/AP_Mission_Commands.cpp
index 9d82550e48..21d6731b73 100644
--- a/libraries/AP_Mission/AP_Mission_Commands.cpp
+++ b/libraries/AP_Mission/AP_Mission_Commands.cpp
@@ -1,3 +1,7 @@
+#include "AP_Mission_config.h"
+
+#if AP_MISSION_ENABLED
+
 #include "AP_Mission.h"
 
 #include <GCS_MAVLink/GCS.h>
@@ -332,3 +336,5 @@ bool AP_Mission::start_command_do_gimbal_manager_pitchyaw(const AP_Mission::Miss
     // if we got this far then message is not handled
     return false;
 }
+
+#endif  // AP_MISSION_ENABLED