From 4ffb4f6fef9b308b43464525747328eebbb905e5 Mon Sep 17 00:00:00 2001
From: Grant Morphett <grant@gmorph.com>
Date: Thu, 5 Feb 2015 17:23:49 +1100
Subject: [PATCH] APMrover2: Changes to fix the warnings in rover sitl build.

We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
---
 APMrover2/GCS_Mavlink.pde |  8 +++-----
 APMrover2/Log.pde         |  2 +-
 APMrover2/system.pde      | 15 ---------------
 3 files changed, 4 insertions(+), 21 deletions(-)

diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 56646098ae..f90cc6de6b 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -62,7 +62,7 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
         break;
     }
 
-#if ENABLE_STICK_MIXING==ENABLED
+#if defined(ENABLE_STICK_MIXING) && (ENABLE_STICK_MIXING==ENABLED)
     if (control_mode != INITIALISING) {
         // all modes except INITIALISING have some form of manual
         // override if stick mixing is enabled
@@ -238,9 +238,9 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
         nav_controller->crosstrack_error());
 }
 
-#if HIL_MODE != HIL_MODE_DISABLED
 static void NOINLINE send_servo_out(mavlink_channel_t chan)
 {
+#if HIL_MODE != HIL_MODE_DISABLED
     // normalized values scaled to -10000 to 10000
     // This is used for HIL.  Do not change without discussing with
     // HIL maintainers
@@ -257,8 +257,8 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
         0,
         0,
         receiver_rssi);
-}
 #endif
+}
 
 static void NOINLINE send_radio_out(mavlink_channel_t chan)
 {
@@ -445,10 +445,8 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         break;
 
     case MSG_SERVO_OUT:
-#if HIL_MODE != HIL_MODE_DISABLED
         CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
         send_servo_out(chan);
-#endif
         break;
 
     case MSG_RADIO_IN:
diff --git a/APMrover2/Log.pde b/APMrover2/Log.pde
index 4517dcecc9..325ea55b52 100644
--- a/APMrover2/Log.pde
+++ b/APMrover2/Log.pde
@@ -306,7 +306,7 @@ static void Log_Write_Attitude()
     DataFlash.Log_Write_Attitude(ahrs, targets);
 
 #if AP_AHRS_NAVEKF_AVAILABLE
- #if OPTFLOW == ENABLED
+ #if defined(OPTFLOW) and (OPTFLOW == ENABLED)
     DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
  #else
     DataFlash.Log_Write_EKF(ahrs,false);
diff --git a/APMrover2/system.pde b/APMrover2/system.pde
index 81ac2785ef..4dfb98c832 100644
--- a/APMrover2/system.pde
+++ b/APMrover2/system.pde
@@ -481,21 +481,6 @@ static uint8_t check_digital_pin(uint8_t pin)
     return hal.gpio->read(dpin);
 }
 
-/*
-  write to a servo
- */
-static void servo_write(uint8_t ch, uint16_t pwm)
-{
-#if HIL_MODE != HIL_MODE_DISABLED
-    if (ch < 8) {
-        RC_Channel::rc_channel(ch)->radio_out = pwm;
-    }
-#else
-    hal.rcout->enable_ch(ch);
-    hal.rcout->write(ch, pwm);
-#endif
-}
-
 /*
   should we log a message type now?
  */