AP_Winch: add and use AP_WINCH_ENABLED

libraries/AP_Winch/AP_Winch.cpp

@@ -1,4 +1,7 @@
 #include "AP_Winch.h"
+
+#if AP_WINCH_ENABLED
+
 #include "AP_Winch_PWM.h"
 #include "AP_Winch_Daiwa.h"
 
@@ -157,3 +160,5 @@ AP_Winch *winch()
 }
 
 };
+
+#endif  // AP_WINCH_ENABLED

libraries/AP_Winch/AP_Winch.h

@@ -15,6 +15,10 @@
 
 #pragma once
 
+#include "AP_Winch_config.h"
+
+#if AP_WINCH_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Param/AP_Param.h>
@@ -103,3 +107,5 @@ private:
 namespace AP {
     AP_Winch *winch();
 };
+
+#endif  // AP_WINCH_ENABLED

libraries/AP_Winch/AP_Winch_Backend.cpp

@@ -1,5 +1,7 @@
 #include <AP_Winch/AP_Winch_Backend.h>
 
+#if AP_WINCH_ENABLED
+
 #include <RC_Channel/RC_Channel.h>
 #include <SRV_Channel/SRV_Channel.h>
 
@@ -67,3 +69,5 @@ float AP_Winch_Backend::get_rate_limited_by_accel(float rate, float dt)
 
     return rate_limited;
 }
+
+#endif  // AP_WINCH_ENABLED

libraries/AP_Winch/AP_Winch_Backend.h

@@ -17,6 +17,8 @@
 
 #include <AP_Winch/AP_Winch.h>
 
+#if AP_WINCH_ENABLED
+
 class AP_Winch_Backend {
 public:
     AP_Winch_Backend(struct AP_Winch::Backend_Config &_config) :
@@ -58,3 +60,5 @@ protected:
     int16_t previous_radio_in = -1; // previous RC input from pilot, used to ignore small changes
     float previous_rate;            // previous rate used for acceleration limiting
 };
+
+#endif  // AP_WINCH_ENABLED

libraries/AP_Winch/AP_Winch_Daiwa.cpp

@@ -1,5 +1,7 @@
 #include <AP_Winch/AP_Winch_Daiwa.h>
 
+#if AP_WINCH_DAIWA_ENABLED
+
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
 #include <SRV_Channel/SRV_Channel.h>
@@ -223,3 +225,5 @@ void AP_Winch_Daiwa::control_winch()
     }
     SRV_Channels::set_output_scaled(SRV_Channel::k_winch, scaled_output);
 }
+
+#endif  // AP_WINCH_DAIWA_ENABLED

libraries/AP_Winch/AP_Winch_Daiwa.h

@@ -30,6 +30,8 @@
 
 #include <AP_Winch/AP_Winch_Backend.h>
 
+#if AP_WINCH_DAIWA_ENABLED
+
 class AP_Winch_Daiwa : public AP_Winch_Backend {
 public:
 
@@ -105,3 +107,5 @@ private:
         WAITING_FOR_MOTOR_TEMP
     } parse_state;
 };
+
+#endif  // AP_WINCH_DAIWA_ENABLED

libraries/AP_Winch/AP_Winch_PWM.cpp

@@ -1,5 +1,7 @@
 #include "AP_Winch_PWM.h"
 
+#if AP_WINCH_PWM_ENABLED
+
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
 #include <SRV_Channel/SRV_Channel.h>
@@ -106,3 +108,5 @@ void AP_Winch_PWM::write_log()
             0,              // voltage (unsupported)
             0);             // temp (unsupported)
 }
+
+#endif  // AP_WINCH_PWM_ENABLED

libraries/AP_Winch/AP_Winch_PWM.h

@@ -17,6 +17,8 @@
 
 #include <AP_Winch/AP_Winch_Backend.h>
 
+#if AP_WINCH_PWM_ENABLED
+
 class AP_Winch_PWM : public AP_Winch_Backend {
 public:
 
@@ -45,3 +47,5 @@ private:
     uint32_t control_update_ms; // last time control_winch was called
     float line_length;          // estimated length of line in meters
 };
+
+#endif  // AP_WINCH_PWM_ENABLED

libraries/AP_Winch/AP_Winch_config.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_WINCH_ENABLED
+#define AP_WINCH_ENABLED 1
+#endif
+
+#ifndef AP_WINCH_BACKEND_DEFAULT_ENABLED
+#define AP_WINCH_BACKEND_DEFAULT_ENABLED AP_WINCH_ENABLED
+#endif
+
+#ifndef AP_WINCH_DAIWA_ENABLED
+#define AP_WINCH_DAIWA_ENABLED AP_WINCH_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_WINCH_PWM_ENABLED
+#define AP_WINCH_PWM_ENABLED AP_WINCH_BACKEND_DEFAULT_ENABLED
+#endif