From 8f6bed23cfcbec3e712d2a49993bcf5f5fdd1eb4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 18 Aug 2021 21:42:16 +1000
Subject: [PATCH] AP_AccelCal: move from HAL_NO_GCS to HAL_GCS_ENABLED

---
 libraries/AP_AccelCal/AP_AccelCal.cpp | 2 ++
 libraries/AP_AccelCal/AP_AccelCal.h   | 6 ++++--
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_AccelCal/AP_AccelCal.cpp b/libraries/AP_AccelCal/AP_AccelCal.cpp
index 8fbf9b09c1..dd0c0d9b1f 100644
--- a/libraries/AP_AccelCal/AP_AccelCal.cpp
+++ b/libraries/AP_AccelCal/AP_AccelCal.cpp
@@ -361,6 +361,7 @@ bool AP_AccelCal::client_active(uint8_t client_num)
     return (bool)_clients[client_num]->_acal_get_calibrator(0);
 }
 
+#if HAL_GCS_ENABLED
 void AP_AccelCal::handleMessage(const mavlink_message_t &msg)
 {
     if (!_waiting_for_mavlink_ack) {
@@ -383,6 +384,7 @@ bool AP_AccelCal::gcs_vehicle_position(float position)
 
     return false;
 }
+#endif
 
 // true if we are in a calibration process
 bool AP_AccelCal::running(void) const
diff --git a/libraries/AP_AccelCal/AP_AccelCal.h b/libraries/AP_AccelCal/AP_AccelCal.h
index 1eb6e43357..f8c4badda2 100644
--- a/libraries/AP_AccelCal/AP_AccelCal.h
+++ b/libraries/AP_AccelCal/AP_AccelCal.h
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <GCS_MAVLink/GCS_MAVLink.h>
+#include <GCS_MAVLink/GCS.h>
 #include "AccelCalibrator.h"
 #include "AP_Vehicle/AP_Vehicle_Type.h"
 
 #ifndef HAL_INS_ACCELCAL_ENABLED
-#ifndef HAL_NO_GCS
+#if HAL_GCS_ENABLED
 #define HAL_INS_ACCELCAL_ENABLED 1
 #else
 #define HAL_INS_ACCELCAL_ENABLED 0
@@ -42,7 +42,9 @@ public:
     // interface to the clients for registration
     static void register_client(AP_AccelCal_Client* client);
 
+#if HAL_GCS_ENABLED
     void handleMessage(const mavlink_message_t &msg);
+#endif
 
     // true if we are in a calibration process
     bool running(void) const;