From 41d0a79ec0d0f1dd511988d14bb72482eb757911 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 8 May 2024 09:49:32 +1000
Subject: [PATCH] Sub: correct boot on boards with features missing

parameters don't exist for defaulting, so config error loop is entered.  The config error loop also isn't working well this early in the boot, so the board is not perfectly informative.

Config Error: param deflt fail:BARO_PROBE_EXT
no link
Config Error: param deflt fail:BARO_PROBE_EXT
no link
no link
Config Error: param deflt fail:BARO_PROBE_EXT
no link
---
 ArduSub/Parameters.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index 5795c50168..6854c93328 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -382,9 +382,11 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
     { "RC3_TRIM",            1100},
     { "COMPASS_OFFS_MAX",    1000},
     { "INS_GYR_CAL",         0},
+#if HAL_MOUNT_ENABLED
     { "MNT1_TYPE",           1},
     { "MNT1_DEFLT_MODE",     MAV_MOUNT_MODE_RC_TARGETING},
     { "MNT1_RC_RATE",        30},
+#endif
     { "RC7_OPTION",          214},   // MOUNT1_YAW
     { "RC8_OPTION",          213},   // MOUNT1_PITCH
     { "MOT_PWM_MIN",         1100},
@@ -395,7 +397,9 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
     { "PSC_VELXY_P",         6.0f},
     { "EK3_SRC1_VELZ",       0},
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
+#if AP_BARO_PROBE_EXT_PARAMETER_ENABLED
     { "BARO_PROBE_EXT",      0},
+#endif
     { "BATT_MONITOR",        4},
     { "BATT_CAPACITY",       0},
     { "LEAK1_PIN",           27},
@@ -405,7 +409,9 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
     { "SERVO16_FUNCTION",    7},     // k_mount_tilt
     { "SERVO16_REVERSED",    1},
 #else
+#if AP_BARO_PROBE_EXT_PARAMETER_ENABLED
     { "BARO_PROBE_EXT",      768},
+#endif
     { "SERVO9_FUNCTION",     59},    // k_rcin9, lights 1
     { "SERVO10_FUNCTION",    7},     // k_mount_tilt
 #endif