From 8416730a8cbf6f535f5a2b69cd6286c9f4aa96f8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 12 Jul 2023 16:23:33 +1000
Subject: [PATCH] AP_OpticalFlow: add and use AP_OPTICALFLOW_CALIBRATOR_ENABLED

---
 libraries/AP_OpticalFlow/AP_OpticalFlow.cpp            | 4 ++++
 libraries/AP_OpticalFlow/AP_OpticalFlow.h              | 3 ++-
 libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp | 7 +++++++
 libraries/AP_OpticalFlow/AP_OpticalFlow_config.h       | 4 ++++
 4 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
index 61896831fb..8739e0282f 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
@@ -193,6 +193,7 @@ void AP_OpticalFlow::update(void)
     // only healthy if the data is less than 0.5s old
     _flags.healthy = (AP_HAL::millis() - _last_update_ms < 500);
 
+#if AP_OPTICALFLOW_CALIBRATOR_ENABLED
     // update calibrator and save resulting scaling
     if (_calibrator != nullptr) {
         if (_calibrator->update()) {
@@ -207,6 +208,7 @@ void AP_OpticalFlow::update(void)
             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "FlowCal: FLOW_FXSCALER=%d, FLOW_FYSCALER=%d", (int)_flowScalerX, (int)_flowScalerY);
         }
     }
+#endif
 }
 
 void AP_OpticalFlow::handle_msg(const mavlink_message_t &msg)
@@ -235,6 +237,7 @@ void AP_OpticalFlow::handle_msp(const MSP::msp_opflow_data_message_t &pkt)
 }
 #endif //HAL_MSP_OPTICALFLOW_ENABLED
 
+#if AP_OPTICALFLOW_CALIBRATOR_ENABLED
 // start calibration
 void AP_OpticalFlow::start_calibration()
 {
@@ -257,6 +260,7 @@ void AP_OpticalFlow::stop_calibration()
         _calibrator->stop();
     }
 }
+#endif
 
 void AP_OpticalFlow::update_state(const OpticalFlow_state &state)
 {
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.h b/libraries/AP_OpticalFlow/AP_OpticalFlow.h
index d071436f8c..c27498c6da 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.h
@@ -139,9 +139,10 @@ private:
     void Log_Write_Optflow();
     uint32_t _log_bit = -1;     // bitmask bit which indicates if we should log.  -1 means we always log
 
+#if AP_OPTICALFLOW_CALIBRATOR_ENABLED
     // calibrator
     AP_OpticalFlow_Calibrator *_calibrator;
-
+#endif
 };
 
 namespace AP {
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp
index 84de1759d6..ff4cba123f 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp
@@ -13,7 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
+#include "AP_OpticalFlow_config.h"
+
+#if AP_OPTICALFLOW_CALIBRATOR_ENABLED
+
 #include "AP_OpticalFlow_Calibrator.h"
+
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 
@@ -329,3 +334,5 @@ void AP_OpticalFlow_Calibrator::log_sample(uint8_t axis, uint8_t sample_num, flo
         (double)los_pred);
 }
 #endif  // HAL_LOGGING_ENABLED
+
+#endif  // AP_OPTICALFLOW_CALIBRATOR_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_config.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_config.h
index 35bf0ea4ad..e70e391cf5 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_config.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_config.h
@@ -8,6 +8,10 @@
 #define AP_OPTICALFLOW_ENABLED 1
 #endif
 
+#ifndef AP_OPTICALFLOW_CALIBRATOR_ENABLED
+#define AP_OPTICALFLOW_CALIBRATOR_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
 #ifndef AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED
 #define AP_OPTICALFLOW_BACKEND_DEFAULT_ENABLED AP_OPTICALFLOW_ENABLED
 #endif