Rover: use AP_FOLLOW_ENABLED

Rover/GCS_Mavlink.cpp

@@ -398,8 +398,10 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
 
 void GCS_MAVLINK_Rover::packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg)
 {
+#if AP_FOLLOW_ENABLED
     // pass message to follow library
     rover.g2.follow.handle_msg(msg);
+#endif
     GCS_MAVLINK::packetReceived(status, msg);
 }
 

Rover/Parameters.cpp

@@ -517,9 +517,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("CRASH_ANGLE", 22, ParametersG2, crash_angle, 0),
 
+#if AP_FOLLOW_ENABLED
     // @Group: FOLL
     // @Path: ../libraries/AP_Follow/AP_Follow.cpp
     AP_SUBGROUPINFO(follow, "FOLL", 23, ParametersG2, AP_Follow),
+#endif
 
     // @Param: FRAME_TYPE
     // @DisplayName: Frame Type
@@ -752,7 +754,9 @@ ParametersG2::ParametersG2(void)
     proximity(),
 #endif
     avoid(),
+#if AP_FOLLOW_ENABLED
     follow(),
+#endif
     windvane(),
     pos_control(attitude_control),
     wp_nav(attitude_control, pos_control),

Rover/Parameters.h

@@ -360,8 +360,10 @@ public:
     // pitch/roll angle for crash check
     AP_Int8 crash_angle;
 
+#if AP_FOLLOW_ENABLED
     // follow mode library
     AP_Follow follow;
+#endif
 
     // frame type for vehicle (used for vectored motor vehicles and custom motor configs)
     AP_Int8 frame_type;

Rover/RC_Channel.cpp

@@ -214,10 +214,12 @@ bool RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const AuxSwit
         do_aux_function_change_mode(rover.mode_loiter, ch_flag);
         break;
 
+#if MODE_FOLLOW_ENABLED == ENABLED
     // Set mode to Follow
     case AUX_FUNC::FOLLOW:
         do_aux_function_change_mode(rover.mode_follow, ch_flag);
         break;
+#endif
 
     // set mode to Simple
     case AUX_FUNC::SIMPLE:

Rover/Rover.h

@@ -43,6 +43,7 @@
 #include <AR_WPNav/AR_WPNav_OA.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 #include <AC_PrecLand/AC_PrecLand_config.h>
+#include <AP_Follow/AP_Follow_config.h>
 
 // Configuration
 #include "defines.h"
@@ -91,7 +92,9 @@ public:
     friend class ModeManual;
     friend class ModeRTL;
     friend class ModeSmartRTL;
+#if MODE_FOLLOW_ENABLED == ENABLED
     friend class ModeFollow;
+#endif
     friend class ModeSimple;
 #if MODE_DOCK_ENABLED == ENABLED
     friend class ModeDock;
@@ -236,7 +239,9 @@ private:
     ModeSteering mode_steering;
     ModeRTL mode_rtl;
     ModeSmartRTL mode_smartrtl;
+#if MODE_FOLLOW_ENABLED == ENABLED
     ModeFollow mode_follow;
+#endif
     ModeSimple mode_simple;
 #if MODE_DOCK_ENABLED == ENABLED
     ModeDock mode_dock;

Rover/config.h

@@ -67,6 +67,12 @@
 # define MODE_DOCK_ENABLED AC_PRECLAND_ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Follow mode - allows vehicle to follow target
+#ifndef MODE_FOLLOW_ENABLED
+# define MODE_FOLLOW_ENABLED AP_FOLLOW_ENABLED
+#endif
+
 
 //////////////////////////////////////////////////////////////////////////////
 // Developer Items

Rover/mode.cpp

@@ -531,9 +531,11 @@ Mode *Rover::mode_from_mode_num(const enum Mode::Number num)
     case Mode::Number::LOITER:
         ret = &mode_loiter;
         break;
+#if MODE_FOLLOW_ENABLED == ENABLED
     case Mode::Number::FOLLOW:
         ret = &mode_follow;
         break;
+#endif
     case Mode::Number::SIMPLE:
         ret = &mode_simple;
         break;

Rover/mode.h

@@ -789,6 +789,7 @@ protected:
     bool _enter() override { return false; };
 };
 
+#if MODE_FOLLOW_ENABLED == ENABLED
 class ModeFollow : public Mode
 {
 public:
@@ -823,6 +824,7 @@ protected:
 
     float _desired_speed;       // desired speed in m/s
 };
+#endif
 
 class ModeSimple : public Mode
 {

Rover/mode_follow.cpp

@@ -1,5 +1,6 @@
 #include "Rover.h"
 
+#if MODE_FOLLOW_ENABLED
 // initialize follow mode
 bool ModeFollow::_enter()
 {
@@ -94,3 +95,5 @@ bool ModeFollow::set_desired_speed(float speed)
     _desired_speed = speed;
     return true;
 }
+
+#endif // MODE_FOLLOW_ENABLED