From 95c13faac212e6028bf147a9e5c52bf8b5ecec37 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 18 Aug 2023 15:38:03 +1000
Subject: [PATCH] Rover: rely on AP_RALLY_ENABLED for rally support

---
 Rover/AP_Rally.cpp   | 8 ++++++--
 Rover/AP_Rally.h     | 5 ++++-
 Rover/Parameters.cpp | 2 +-
 Rover/Parameters.h   | 2 ++
 Rover/config.h       | 7 -------
 Rover/mode_rtl.cpp   | 2 +-
 6 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/Rover/AP_Rally.cpp b/Rover/AP_Rally.cpp
index 1a83615964..b0daf506f1 100644
--- a/Rover/AP_Rally.cpp
+++ b/Rover/AP_Rally.cpp
@@ -13,11 +13,13 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_Common/Location.h>
+#include "AP_Rally.h"
+
+#if HAL_RALLY_ENABLED
 
 #include "Rover.h"
 
-#include "AP_Rally.h"
+#include <AP_Common/Location.h>
 
 bool AP_Rally_Rover::is_valid(const Location &rally_point) const
 {
@@ -28,3 +30,5 @@ bool AP_Rally_Rover::is_valid(const Location &rally_point) const
 #endif
     return true;
 }
+
+#endif  // HAL_RALLY_ENABLED
diff --git a/Rover/AP_Rally.h b/Rover/AP_Rally.h
index 0055dcb1e5..197d6c9279 100644
--- a/Rover/AP_Rally.h
+++ b/Rover/AP_Rally.h
@@ -15,7 +15,8 @@
 #pragma once
 
 #include <AP_Rally/AP_Rally.h>
-#include <AP_AHRS/AP_AHRS.h>
+
+#if HAL_RALLY_ENABLED
 
 class AP_Rally_Rover : public AP_Rally
 {
@@ -28,3 +29,5 @@ public:
 private:
     bool is_valid(const Location &rally_point) const override;
 };
+
+#endif  // HAL_RALLY_ENABLED
diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index b8951938ae..24783eb2a3 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -548,7 +548,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
     AP_SUBGROUPINFO(wheel_rate_control, "WRC", 27, ParametersG2, AP_WheelRateControl),
 
-#if AP_RALLY == ENABLED
+#if HAL_RALLY_ENABLED
     // @Group: RALLY_
     // @Path: AP_Rally.cpp,../libraries/AP_Rally/AP_Rally.cpp
     AP_SUBGROUPINFO(rally, "RALLY_", 28, ParametersG2, AP_Rally_Rover),
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
index c12b6ace33..035d16f4d0 100644
--- a/Rover/Parameters.h
+++ b/Rover/Parameters.h
@@ -381,8 +381,10 @@ public:
     AP_Gripper gripper;
 #endif
 
+#if HAL_RALLY_ENABLED
     // Rally point library
     AP_Rally_Rover rally;
+#endif
 
     // Simple mode types
     AP_Int8 simple_type;
diff --git a/Rover/config.h b/Rover/config.h
index cc1d55026e..7a280e88f3 100644
--- a/Rover/config.h
+++ b/Rover/config.h
@@ -31,13 +31,6 @@
   #error XXX
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// RALLY POINTS
-//
-#ifndef AP_RALLY
- #define AP_RALLY ENABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // NAVL1
 //
diff --git a/Rover/mode_rtl.cpp b/Rover/mode_rtl.cpp
index b9a8ee4964..e896c5151f 100644
--- a/Rover/mode_rtl.cpp
+++ b/Rover/mode_rtl.cpp
@@ -11,7 +11,7 @@ bool ModeRTL::_enter()
     g2.wp_nav.init(MAX(0, g2.rtl_speed));
 
     // set target to the closest rally point or home
-#if AP_RALLY == ENABLED
+#if HAL_RALLY_ENABLED
     if (!g2.wp_nav.set_desired_location(g2.rally.calc_best_rally_or_home_location(rover.current_loc, ahrs.get_home().alt))) {
         return false;
     }