From 67986e840220a4eccba4d6602f999dc0b995d61f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 28 Jan 2022 11:09:43 +1100
Subject: [PATCH] AP_DAL: add and use AP_BEACON_ENABLED

---
 libraries/AP_DAL/AP_DAL.cpp        | 4 ++++
 libraries/AP_DAL/AP_DAL.h          | 8 ++++++++
 libraries/AP_DAL/AP_DAL_Beacon.cpp | 4 +++-
 libraries/AP_DAL/AP_DAL_Beacon.h   | 8 ++++++--
 4 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp
index 706cb6ac23..7cb4545275 100644
--- a/libraries/AP_DAL/AP_DAL.cpp
+++ b/libraries/AP_DAL/AP_DAL.cpp
@@ -85,9 +85,11 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
     if (_rangefinder) {
         _rangefinder->start_frame();
     }
+#if AP_BEACON_ENABLED
     if (_beacon) {
         _beacon->start_frame();
     }
+#endif
 #if HAL_VISUALODOM_ENABLED
     if (_visualodom) {
         _visualodom->start_frame();
@@ -136,10 +138,12 @@ void AP_DAL::init_sensors(void)
     }
 #endif
 
+#if AP_BEACON_ENABLED
     auto *bcn = AP::beacon();
     if (bcn != nullptr && bcn->enabled()) {
         alloc_failed |= (_beacon = new AP_DAL_Beacon) == nullptr;
     }
+#endif
 
 #if HAL_VISUALODOM_ENABLED
     auto *vodom = AP::visualodom();
diff --git a/libraries/AP_DAL/AP_DAL.h b/libraries/AP_DAL/AP_DAL.h
index 4c0c945540..53719089f5 100644
--- a/libraries/AP_DAL/AP_DAL.h
+++ b/libraries/AP_DAL/AP_DAL.h
@@ -135,9 +135,11 @@ public:
     AP_DAL_Airspeed *airspeed() {
         return _airspeed;
     }
+#if AP_BEACON_ENABLED
     AP_DAL_Beacon *beacon() {
         return _beacon;
     }
+#endif
 #if HAL_VISUALODOM_ENABLED
     AP_DAL_VisualOdom *visualodom() {
         return _visualodom;
@@ -287,16 +289,20 @@ public:
     }
 
     void handle_message(const log_RBCH &msg) {
+#if AP_BEACON_ENABLED
         if (_beacon == nullptr) {
             _beacon = new AP_DAL_Beacon;
         }
         _beacon->handle_message(msg);
+#endif
     }
     void handle_message(const log_RBCI &msg) {
+#if AP_BEACON_ENABLED
         if (_beacon == nullptr) {
             _beacon = new AP_DAL_Beacon;
         }
         _beacon->handle_message(msg);
+#endif
     }
     void handle_message(const log_RVOH &msg) {
 #if HAL_VISUALODOM_ENABLED
@@ -349,7 +355,9 @@ private:
     AP_DAL_RangeFinder *_rangefinder;
     AP_DAL_Compass _compass;
     AP_DAL_Airspeed *_airspeed;
+#if AP_BEACON_ENABLED
     AP_DAL_Beacon *_beacon;
+#endif
 #if HAL_VISUALODOM_ENABLED
     AP_DAL_VisualOdom *_visualodom;
 #endif
diff --git a/libraries/AP_DAL/AP_DAL_Beacon.cpp b/libraries/AP_DAL/AP_DAL_Beacon.cpp
index e1a1f34d03..a1d661ea5d 100644
--- a/libraries/AP_DAL/AP_DAL_Beacon.cpp
+++ b/libraries/AP_DAL/AP_DAL_Beacon.cpp
@@ -1,6 +1,6 @@
 #include "AP_DAL_Beacon.h"
 
-#include <AP_Beacon/AP_Beacon.h>
+#if AP_BEACON_ENABLED
 
 #include <AP_Logger/AP_Logger.h>
 #include "AP_DAL.h"
@@ -47,3 +47,5 @@ void AP_DAL_Beacon::start_frame()
         WRITE_REPLAY_BLOCK_IFCHANGED(RBCI, RBCI, old_RBCI);
     }
 }
+
+#endif
diff --git a/libraries/AP_DAL/AP_DAL_Beacon.h b/libraries/AP_DAL/AP_DAL_Beacon.h
index 73a4fcc83a..b494d79476 100644
--- a/libraries/AP_DAL/AP_DAL_Beacon.h
+++ b/libraries/AP_DAL/AP_DAL_Beacon.h
@@ -1,9 +1,11 @@
 #pragma once
 
-#include <AP_Logger/LogStructure.h>
-
 #include <AP_Beacon/AP_Beacon.h>
 
+#if AP_BEACON_ENABLED
+
+#include <AP_Logger/LogStructure.h>
+
 class AP_DAL_Beacon {
 public:
 
@@ -73,3 +75,5 @@ private:
     struct log_RBCH _RBCH;
     struct log_RBCI _RBCI[AP_BEACON_MAX_BEACONS];
 };
+
+#endif  // AP_BEACON_ENABLED