Rover: move handling of visual odometry messages up

APMrover2/GCS_Mavlink.cpp

@@ -1359,10 +1359,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
         rover.g2.proximity.handle_msg(msg);
         break;
 
-    case MAVLINK_MSG_ID_VISION_POSITION_DELTA:
-        rover.g2.visual_odom.handle_msg(msg);
-        break;
-
     default:
         handle_common_message(msg);
         break;
@@ -1469,6 +1465,15 @@ AP_AdvancedFailsafe *GCS_MAVLINK_Rover::get_advanced_failsafe() const
 #endif
 }
 
+AP_VisualOdom *GCS_MAVLINK_Rover::get_visual_odom() const
+{
+#if VISUAL_ODOMETRY_ENABLED == ENABLED
+    return &rover.g2.visual_odom;
+#else
+    return nullptr;
+#endif
+}
+
 Compass *GCS_MAVLINK_Rover::get_compass() const
 {
     return &rover.compass;

APMrover2/GCS_Mavlink.h

@@ -22,6 +22,7 @@ protected:
     AP_Camera *get_camera() const override;
     AP_ServoRelayEvents *get_servorelayevents() const override;
     AP_AdvancedFailsafe *get_advanced_failsafe() const override;
+    AP_VisualOdom *get_visual_odom() const override;
     const AP_FWVersion &get_fwver() const override;
     void set_ekf_origin(const Location& loc) override;
 

APMrover2/config.h

@@ -96,6 +96,13 @@
   #error XXX
 #endif
 
+
+//////////////////////////////////////////////////////////////////////////////
+//  VISUAL ODOMETRY
+#ifndef VISUAL_ODOMETRY_ENABLED
+# define VISUAL_ODOMETRY_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // STARTUP BEHAVIOUR

APMrover2/make.inc

@@ -42,7 +42,6 @@ LIBRARIES += AP_RPM
 LIBRARIES += AP_Arming
 LIBRARIES += AP_Stats
 LIBRARIES += AP_Beacon
-LIBRARIES += AP_VisualOdom
 LIBRARIES += AP_WheelEncoder
 LIBRARIES += AP_AdvancedFailsafe
 LIBRARIES += AR_AttitudeControl

APMrover2/wscript

@@ -18,7 +18,6 @@ def build(bld):
             'AC_PID',
             'AP_Stats',
             'AP_Beacon',
-            'AP_VisualOdom',
             'AP_AdvancedFailsafe',
             'AP_WheelEncoder',
             'AP_SmartRTL',