From 86e7c09cf027720fdb8ade727b90d44bb2f2e31d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 28 Aug 2022 18:13:04 +1000
Subject: [PATCH] waf: added OpenDroneID support

---
 Tools/ardupilotwaf/ardupilotwaf.py |  2 ++
 Tools/ardupilotwaf/boards.py       | 21 +++++++++++++++++++++
 wscript                            | 11 ++++++++++-
 3 files changed, 33 insertions(+), 1 deletion(-)

diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index f63a8d1bec..d56f29829a 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -107,6 +107,8 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
     'AP_ExternalAHRS',
     'AP_VideoTX',
     'AP_FETtecOneWire',
+    'AP_CheckFirmware',
+    'AP_OpenDroneID',
 ]
 
 def get_legacy_defines(sketch_name):
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 36424299e6..5b043d049a 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -67,6 +67,26 @@ class Board:
         # allow GCS disable for AP_DAL example
         if cfg.options.no_gcs:
             env.CXXFLAGS += ['-DHAL_NO_GCS=1']
+
+        # allow enable of OpenDroneID for any board
+        if cfg.options.enable_opendroneid:
+            env.ENABLE_OPENDRONEID = True
+            env.DEFINES.update(
+                AP_OPENDRONEID_ENABLED=1,
+            )
+            cfg.msg("Enabled OpenDroneID", 'yes')
+        else:
+            cfg.msg("Enabled OpenDroneID", 'no', color='YELLOW')
+
+        # allow enable of firmware ID checking for any board
+        if cfg.options.enable_check_firmware:
+            env.CHECK_FIRMWARE_ENABLED = True
+            env.DEFINES.update(
+                AP_CHECK_FIRMWARE_ENABLED=1,
+            )
+            cfg.msg("Enabled firmware ID checking", 'yes')
+        else:
+            cfg.msg("Enabled firmware ID checking", 'no', color='YELLOW')
             
         d = env.get_merged_dict()
         # Always prepend so that arguments passed in the command line get
@@ -461,6 +481,7 @@ class sitl(Board):
             AP_SCRIPTING_CHECKS = 1, # SITL should always do runtime scripting checks
         )
 
+        cfg.define('AP_OPENDRONEID_ENABLED', 1)
 
         if self.with_can:
             cfg.define('HAL_NUM_CAN_IFACES', 2)
diff --git a/wscript b/wscript
index 2effc8117d..b35754b733 100644
--- a/wscript
+++ b/wscript
@@ -271,7 +271,16 @@ configuration in order to save typing.
         action='store_true',
         default=False,
         help='force single precision postype_t')
-    
+
+    g.add_option('--enable-opendroneid', action='store_true',
+                 default=False,
+                 help="Enables OpenDroneID")
+
+    g.add_option('--enable-check-firmware', action='store_true',
+                 default=False,
+                 help="Enables firmware ID checking on boot")
+
+
 def _collect_autoconfig_files(cfg):
     for m in sys.modules.values():
         paths = []