From 5ef4c8dd0958fe705975ef14ce9e9d22498d2dba Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Fri, 24 Mar 2023 10:34:45 +1100
Subject: [PATCH] GCS_MAVLink: move AP_KDECAN to a first-class library

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 24 +++---------------------
 1 file changed, 3 insertions(+), 21 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 0d4d4d13d7..3247e9c27d 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -56,6 +56,7 @@
 #include <AP_Frsky_Telem/AP_Frsky_Telem.h>
 #include <RC_Channel/RC_Channel.h>
 #include <AP_VisualOdom/AP_VisualOdom.h>
+#include <AP_KDECAN/AP_KDECAN.h>
 
 #include "MissionItemProtocol_Waypoints.h"
 #include "MissionItemProtocol_Rally.h"
@@ -77,10 +78,6 @@
   #include <AP_CANManager/AP_CANTester.h>
   #include <AP_Common/AP_Common.h>
 
-  // To be replaced with macro saying if KDECAN library is included
-  #if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
-    #include <AP_KDECAN/AP_KDECAN.h>
-  #endif
   #include <AP_PiccoloCAN/AP_PiccoloCAN.h>
   #include <AP_DroneCAN/AP_DroneCAN.h>
 #endif
@@ -4355,29 +4352,14 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_can(const mavlink_command_long_
         return MAV_RESULT_TEMPORARILY_REJECTED;
     }
 
-    bool start_stop = is_equal(packet.param1,1.0f);
     bool result = true;
     bool can_exists = false;
+
     uint8_t num_drivers = AP::can().get_num_drivers();
 
     for (uint8_t i = 0; i < num_drivers; i++) {
         switch (AP::can().get_driver_type(i)) {
-            case AP_CANManager::Driver_Type_KDECAN: {
-// To be replaced with macro saying if KDECAN library is included
-#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
-                AP_KDECAN *ap_kdecan = AP_KDECAN::get_kdecan(i);
-
-                if (ap_kdecan != nullptr) {
-                    can_exists = true;
-                    result = ap_kdecan->run_enumeration(start_stop) && result;
-                }
-#else
-                UNUSED_RESULT(start_stop); // prevent unused variable error
-#endif
-                break;
-            }
             case AP_CANManager::Driver_Type_CANTester: {
-// To be replaced with macro saying if KDECAN library is included
 #if (APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)) && (HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_ENABLE_CANTESTER)
                 CANTester *cantester = CANTester::get_cantester(i);
 
@@ -4386,7 +4368,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_can(const mavlink_command_long_
                     result = cantester->run_kdecan_enumeration(start_stop) && result;
                 }
 #else
-                UNUSED_RESULT(start_stop); // prevent unused variable error
+                (void)can_exists;
 #endif
                 break;
             }