From 7cd901fa5b8fe974be679df77d477a3519474ce1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 30 Mar 2020 12:53:02 +1100
Subject: [PATCH] GCS_MAVLink: enable ftp without filesystem

allows for @PARAM and @SYS
---
 libraries/GCS_MAVLink/GCS.h          | 3 ---
 libraries/GCS_MAVLink/GCS_Common.cpp | 8 --------
 libraries/GCS_MAVLink/GCS_FTP.cpp    | 4 ----
 3 files changed, 15 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 5b0e8290fa..85d941e5e0 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -677,8 +677,6 @@ private:
 
     uint8_t send_parameter_async_replies();
 
-#if HAVE_FILESYSTEM_SUPPORT
-
     enum class FTP_OP : uint8_t {
         None = 0,
         TerminateSession = 1,
@@ -754,7 +752,6 @@ private:
     void send_ftp_replies(void);
     void ftp_worker(void);
     void ftp_push_replies(pending_ftp &reply);
-#endif // HAVE_FILESYSTEM_SUPPORT
 
     void send_distance_sensor(const class AP_RangeFinder_Backend *sensor, const uint8_t instance) const;
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 3fac84d2be..3d5bf5d028 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -823,12 +823,10 @@ uint16_t GCS_MAVLINK::get_reschedule_interval_ms(const deferred_message_bucket_t
         // we are sending requests for waypoints, penalize streams:
         interval_ms *= 4;
     }
-#if HAVE_FILESYSTEM_SUPPORT
     if (ftp.replies && AP_HAL::millis() - ftp.last_send_ms < 500) {
         // we are sending ftp replies
         interval_ms *= 4;
     }
-#endif
 
     if (interval_ms > 60000) {
         return 60000;
@@ -1004,9 +1002,7 @@ void GCS_MAVLINK::update_send()
         AP::logger().handle_log_send();
     }
 
-#if HAVE_FILESYSTEM_SUPPORT
     send_ftp_replies();
-#endif // HAVE_FILESYSTEM_SUPPORT
 
     if (!deferred_messages_initialised) {
         initialise_message_intervals_from_streamrates();
@@ -3122,9 +3118,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
         break;
 
     case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
-#if HAVE_FILESYSTEM_SUPPORT
         handle_file_transfer_protocol(msg);
-#endif // HAVE_FILESYSTEM_SUPPORT
         break;
 
     case MAVLINK_MSG_ID_DIGICAM_CONTROL:
@@ -4900,9 +4894,7 @@ uint64_t GCS_MAVLINK::capabilities() const
         ret |= MAV_PROTOCOL_CAPABILITY_MISSION_FENCE;
     }
 
-#if HAVE_FILESYSTEM_SUPPORT
     ret |= MAV_PROTOCOL_CAPABILITY_FTP;
-#endif // HAVE_FILESYSTEM_SUPPORT
 
     return ret;
 }
diff --git a/libraries/GCS_MAVLink/GCS_FTP.cpp b/libraries/GCS_MAVLink/GCS_FTP.cpp
index 974abbd2dd..3ebef8554f 100644
--- a/libraries/GCS_MAVLink/GCS_FTP.cpp
+++ b/libraries/GCS_MAVLink/GCS_FTP.cpp
@@ -20,8 +20,6 @@
 
 #include <AP_Filesystem/AP_Filesystem.h>
 
-#if HAVE_FILESYSTEM_SUPPORT
-
 extern const AP_HAL::HAL& hal;
 
 struct GCS_MAVLINK::ftp_state GCS_MAVLINK::ftp;
@@ -606,5 +604,3 @@ void GCS_MAVLINK::ftp_list_dir(struct pending_ftp &request, struct pending_ftp &
 
     AP::FS().closedir(dir);
 }
-
-#endif // HAVE_FILESYSTEM_SUPPORT