From 581629b332b40dd7124ef66a26ead1a3aa9378f7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 11 Oct 2021 16:05:28 +1100
Subject: [PATCH] SITL: make Ship simulator optional

---
 libraries/SITL/SIM_Aircraft.cpp |  7 ++++++-
 libraries/SITL/SIM_Ship.cpp     |  5 +++++
 libraries/SITL/SIM_Ship.h       | 10 ++++++++++
 libraries/SITL/SITL.cpp         |  2 ++
 libraries/SITL/SITL.h           |  2 ++
 5 files changed, 25 insertions(+), 1 deletion(-)

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index ddf6f910fa..30658d8bc5 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -626,9 +626,12 @@ void Aircraft::update_dynamics(const Vector3f &rot_accel)
 
         // get speed of ground movement (for ship takeoff/landing)
         float yaw_rate = 0;
+#if AP_SIM_SHIP_ENABLED
         const Vector2f ship_movement = sitl->shipsim.get_ground_speed_adjustment(location, yaw_rate);
         const Vector3f gnd_movement(ship_movement.x, ship_movement.y, 0);
-
+#else
+        const Vector3f gnd_movement;
+#endif
         switch (ground_behavior) {
         case GROUND_BEHAVIOR_NONE:
             break;
@@ -955,7 +958,9 @@ void Aircraft::update_external_payload(const struct sitl_input &input)
         fetteconewireesc->update(*this);
     }
 
+#if AP_SIM_SHIP_ENABLED
     sitl->shipsim.update();
+#endif
 
     // update IntelligentEnergy 2.4kW generator
     if (ie24) {
diff --git a/libraries/SITL/SIM_Ship.cpp b/libraries/SITL/SIM_Ship.cpp
index bf8ae75973..7cc89ac005 100644
--- a/libraries/SITL/SIM_Ship.cpp
+++ b/libraries/SITL/SIM_Ship.cpp
@@ -17,6 +17,9 @@
 */
 
 #include "SIM_Ship.h"
+
+#if AP_SIM_SHIP_ENABLED
+
 #include "SITL.h"
 
 #include <stdio.h>
@@ -205,3 +208,5 @@ void ShipSim::send_report(void)
         mav_socket.send(buf, len);
     }
 }
+
+#endif
diff --git a/libraries/SITL/SIM_Ship.h b/libraries/SITL/SIM_Ship.h
index 5f98999f86..16e97152a6 100644
--- a/libraries/SITL/SIM_Ship.h
+++ b/libraries/SITL/SIM_Ship.h
@@ -18,6 +18,14 @@
 
 #pragma once
 
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_SIM_SHIP_ENABLED
+#define AP_SIM_SHIP_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
+#if AP_SIM_SHIP_ENABLED
+
 #include <AP_HAL/utility/Socket.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/Location.h>
@@ -84,3 +92,5 @@ private:
 };
 
 }  // namespace SITL
+
+#endif  // AP_SIM_SHIP_ENABLED
diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index 530341301f..88327dc89e 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -74,7 +74,9 @@ const AP_Param::GroupInfo SIM::var_info[] = {
     AP_GROUPINFO("SONAR_POS",     55, SIM,  rngfnd_pos_offset, 0),
     AP_GROUPINFO("FLOW_POS",      56, SIM,  optflow_pos_offset, 0),
     AP_GROUPINFO("ENGINE_FAIL",   58, SIM,  engine_fail,  0),
+#if AP_SIM_SHIP_ENABLED
     AP_SUBGROUPINFO(shipsim, "SHIP_", 59, SIM, ShipSim),
+#endif
     AP_SUBGROUPEXTENSION("",      60, SIM,  var_mag),
     AP_SUBGROUPEXTENSION("",      61, SIM,  var_gps),
     AP_SUBGROUPEXTENSION("",      62, SIM,  var_info3),
diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
index 56b44d163e..85e14bfbad 100644
--- a/libraries/SITL/SITL.h
+++ b/libraries/SITL/SITL.h
@@ -400,7 +400,9 @@ public:
     Sprayer sprayer_sim;
 
     // simulated ship takeoffs
+#if AP_SIM_SHIP_ENABLED
     ShipSim shipsim;
+#endif
 
     Gripper_Servo gripper_sim;
     Gripper_EPM gripper_epm_sim;