From 8a6880711a2b2223c9071dc8afa707fa5593b20b Mon Sep 17 00:00:00 2001
From: Alfie Lockrey <47219621+AlfieLockrey@users.noreply.github.com>
Date: Fri, 15 Nov 2024 11:54:35 +0000
Subject: [PATCH] AP_Battery: include OPTIONS parameter on boards with SUM
 backend

Enable battx_options for periphs if useful.

Enable the options parameter for the battery monitor on AP_Periph devices if they could be useful - ie, battery summing is enabled and in use on a node with more than one source for battery inputs.

Only define options in a single place

Single definition for non periph builds or if AP_BATTERY_SUM_ENABLED
---
 libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp | 4 +++-
 libraries/AP_BattMonitor/AP_BattMonitor_config.h   | 4 ++++
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
index 285481d38b..aceee7c05b 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
@@ -150,14 +150,16 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
     AP_GROUPINFO("ARM_MAH", 19, AP_BattMonitor_Params, _arming_minimum_capacity, 0),
 
     // 20 was BUS
+#endif // HAL_BUILD_AP_PERIPH
 
+#if AP_BATTERY_OPTIONS_PARAM_ENABLED
     // @Param: OPTIONS
     // @DisplayName: Battery monitor options
     // @Description: This sets options to change the behaviour of the battery monitor
     // @Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average
     // @User: Advanced
     AP_GROUPINFO("OPTIONS", 21, AP_BattMonitor_Params, _options, 0),
-#endif // HAL_BUILD_AP_PERIPH
+#endif // AP_BATTERY_OPTIONS_PARAM_ENABLED
 
 #if AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED
     // @Param: ESC_INDEX
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_config.h b/libraries/AP_BattMonitor/AP_BattMonitor_config.h
index 14a1fa7d28..3159b075d6 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_config.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_config.h
@@ -119,3 +119,7 @@
 #ifndef AP_BATTERY_SCRIPTING_ENABLED
 #define AP_BATTERY_SCRIPTING_ENABLED (AP_SCRIPTING_ENABLED && AP_BATTERY_BACKEND_DEFAULT_ENABLED)
 #endif
+
+#ifndef AP_BATTERY_OPTIONS_PARAM_ENABLED
+#define AP_BATTERY_OPTIONS_PARAM_ENABLED (!defined(HAL_BUILD_AP_PERIPH) || AP_BATTERY_SUM_ENABLED)
+#endif