Copter: allow ADSB to be disabled

ArduCopter/APM_Config.h

@@ -34,6 +34,7 @@
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define OPTFLOW               DISABLED            // disable optical flow sensor to save 5K of flash space
 //#define FRSKY_TELEM_ENABLED   DISABLED            // disable FRSky telemetry
+//#define ADSB_ENABLED          DISABLED            // disable ADSB support
 
 // features below are disabled by default on all boards
 //#define SPRAYER               ENABLED             // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)

ArduCopter/ArduCopter.cpp

@@ -140,7 +140,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(read_receiver_rssi,    40,     75),
     SCHED_TASK(rpm_update,            40,    200),
     SCHED_TASK(compass_cal_update,    4,    100),
+#if ADSB_ENABLED == ENABLED
     SCHED_TASK(adsb_update,          400,    100),
+#endif
 #if FRSKY_TELEM_ENABLED == ENABLED
     SCHED_TASK(frsky_telemetry_send,  80,     75),
 #endif

ArduCopter/GCS_Mavlink.cpp

@@ -1934,7 +1934,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     }
 
     case MAVLINK_MSG_ID_ADSB_VEHICLE:
+#if ADSB_ENABLED == ENABLED
         copter.adsb.update_vehicle(msg);
+#endif
         break;
 
     }     // end switch

ArduCopter/adsb.cpp

@@ -19,6 +19,8 @@
 
 #include "Copter.h"
 
+#if ADSB_ENABLED == ENABLED
+
 /*
  *  this module deals with ADS-B handling for ArduPilot
  *  ADS-B is an RF based collision avoidance protocol to tell nearby aircraft your location
@@ -42,3 +44,4 @@ void Copter::adsb_handle_vehicle_threats(void)
 {
 }
 
+#endif // #ADSB_ENABLED

ArduCopter/config.h

@@ -342,6 +342,12 @@
  # define PARACHUTE ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// ADSB support
+#ifndef ADSB_ENABLED
+# define ADSB_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Nav-Guided - allows external nav computer to control vehicle
 #ifndef NAV_GUIDED