From 8afc07d85b4e64cfd8f2d48e8cfdf4c286cf8403 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 6 Jul 2022 11:04:19 +0100
Subject: [PATCH] AP_VisualOdom: only include log structure if enabled

---
 libraries/AP_VisualOdom/AP_VisualOdom.h        | 6 +-----
 libraries/AP_VisualOdom/AP_VisualOdom_config.h | 7 +++++++
 libraries/AP_VisualOdom/LogStructure.h         | 6 +++++-
 3 files changed, 13 insertions(+), 6 deletions(-)
 create mode 100644 libraries/AP_VisualOdom/AP_VisualOdom_config.h

diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.h b/libraries/AP_VisualOdom/AP_VisualOdom.h
index 765e15700c..e13bb562f1 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom.h
@@ -14,11 +14,7 @@
  */
 #pragma once
 
-#include <AP_HAL/AP_HAL_Boards.h>
-
-#ifndef HAL_VISUALODOM_ENABLED
-#define HAL_VISUALODOM_ENABLED (!HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024)
-#endif
+#include "AP_VisualOdom_config.h"
 
 #if HAL_VISUALODOM_ENABLED
 
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_config.h b/libraries/AP_VisualOdom/AP_VisualOdom_config.h
new file mode 100644
index 0000000000..e38580cd3b
--- /dev/null
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_config.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef HAL_VISUALODOM_ENABLED
+#define HAL_VISUALODOM_ENABLED (!HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024)
+#endif
diff --git a/libraries/AP_VisualOdom/LogStructure.h b/libraries/AP_VisualOdom/LogStructure.h
index 51b92ccf4f..cb15e181c4 100644
--- a/libraries/AP_VisualOdom/LogStructure.h
+++ b/libraries/AP_VisualOdom/LogStructure.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <AP_Logger/LogStructure.h>
+#include "AP_VisualOdom_config.h"
 
 #define LOG_IDS_FROM_VISUALODOM \
     LOG_VISUALODOM_MSG, \
@@ -87,6 +88,7 @@ struct PACKED log_VisualVelocity {
     uint8_t ignored;
 };
 
+#if HAL_VISUALODOM_ENABLED
 #define LOG_STRUCTURE_FROM_VISUALODOM \
     { LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
       "VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }, \
@@ -94,4 +96,6 @@ struct PACKED log_VisualVelocity {
       "VISP", "QQIffffffffBB", "TimeUS,RTimeUS,CTimeMS,PX,PY,PZ,Roll,Pitch,Yaw,PErr,AErr,Rst,Ign", "sssmmmddhmd--", "FFC00000000--" }, \
     { LOG_VISUALVEL_MSG, sizeof(log_VisualVelocity), \
       "VISV", "QQIffffBB", "TimeUS,RTimeUS,CTimeMS,VX,VY,VZ,VErr,Rst,Ign", "sssnnnn--", "FFC0000--" },
-
+#else
+#define LOG_STRUCTURE_FROM_VISUALODOM
+#endif