AP_VisualOdom: add HAL_VISUALODOM_ENABLED

libraries/AP_VisualOdom/AP_VisualOdom.cpp

@@ -14,6 +14,9 @@
  */
 
 #include "AP_VisualOdom.h"
+
+#if HAL_VISUALODOM_ENABLED
+
 #include "AP_VisualOdom_Backend.h"
 #include "AP_VisualOdom_MAV.h"
 #include "AP_VisualOdom_IntelT265.h"
@@ -210,3 +213,5 @@ AP_VisualOdom *visualodom()
 }
 
 }
+
+#endif

libraries/AP_VisualOdom/AP_VisualOdom.h

@@ -14,6 +14,15 @@
  */
 #pragma once
 
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
+
+#ifndef HAL_VISUALODOM_ENABLED
+#define HAL_VISUALODOM_ENABLED !HAL_MINIMIZE_FEATURES
+#endif
+
+#if HAL_VISUALODOM_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Param/AP_Param.h>
@@ -88,3 +97,5 @@ private:
 namespace AP {
     AP_VisualOdom *visualodom();
 };
+
+#endif // HAL_VISUALODOM_ENABLED

libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp

@@ -14,6 +14,9 @@
  */
 
 #include "AP_VisualOdom_Backend.h"
+
+#if HAL_VISUALODOM_ENABLED
+
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
 
@@ -34,3 +37,5 @@ bool AP_VisualOdom_Backend::healthy() const
     // healthy if we have received sensor messages within the past 300ms
     return ((AP_HAL::millis() - _last_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
 }
+
+#endif

libraries/AP_VisualOdom/AP_VisualOdom_Backend.h

@@ -14,11 +14,10 @@
  */
 #pragma once
 
-#include <AP_Common/AP_Common.h>
-#include <AP_HAL/AP_HAL.h>
-#include <AP_Math/AP_Math.h>
 #include "AP_VisualOdom.h"
 
+#if HAL_VISUALODOM_ENABLED
+
 class AP_VisualOdom_Backend
 {
 public:
@@ -54,3 +53,6 @@ protected:
     AP_VisualOdom &_frontend;   // reference to frontend
     uint32_t _last_update_ms;   // system time of last update from sensor (used by health checks)
 };
+
+#endif
+

libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp

@@ -14,6 +14,9 @@
  */
 
 #include "AP_VisualOdom_IntelT265.h"
+
+#if HAL_VISUALODOM_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Logger/AP_Logger.h>
@@ -191,3 +194,5 @@ bool AP_VisualOdom_IntelT265::pre_arm_check(char *failure_msg, uint8_t failure_m
 
     return true;
 }
+
+#endif

libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.h

@@ -2,6 +2,8 @@
 
 #include "AP_VisualOdom_Backend.h"
 
+#if HAL_VISUALODOM_ENABLED
+
 class AP_VisualOdom_IntelT265 : public AP_VisualOdom_Backend
 {
 
@@ -43,3 +45,5 @@ protected:
     bool _error_orientation;                    // true if the orientation is not supported
     Quaternion _attitude_last;                  // last attitude received from camera (used for arming checks)
 };
+
+#endif

libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp

@@ -14,6 +14,9 @@
  */
 
 #include "AP_VisualOdom_MAV.h"
+
+#if HAL_VISUALODOM_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Logger/AP_Logger.h>
@@ -81,3 +84,5 @@ void AP_VisualOdom_MAV::handle_vision_position_estimate(uint64_t remote_time_us,
     // record time for health monitoring
     _last_update_ms = AP_HAL::millis();
 }
+
+#endif

libraries/AP_VisualOdom/AP_VisualOdom_MAV.h

@@ -2,6 +2,8 @@
 
 #include "AP_VisualOdom_Backend.h"
 
+#if HAL_VISUALODOM_ENABLED
+
 class AP_VisualOdom_MAV : public AP_VisualOdom_Backend
 {
 
@@ -15,3 +17,5 @@ public:
     // consume vision position estimate data and send to EKF. distances in meters
     void handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude) override;
 };
+
+#endif