Plane: fix startup of CLI menu system

ArduPlane/GCS_Plane.cpp

@@ -63,6 +63,7 @@ void GCS_Plane::setup_uarts(AP_SerialManager &serial_manager)
     }
 }
 
+#if CLI_ENABLED == ENABLED
 void GCS_Plane::handle_interactive_setup()
 {
     if (plane.g.cli_enabled == 1) {
@@ -76,3 +77,4 @@ void GCS_Plane::handle_interactive_setup()
         }
     }
 }
+#endif

ArduPlane/GCS_Plane.h

@@ -2,6 +2,7 @@
 
 #include <GCS_MAVLink/GCS.h>
 #include "GCS_Mavlink.h"
+#include "config.h" // for CLI_ENABLED
 
 class GCS_Plane : public GCS
 {
@@ -26,7 +27,9 @@ public:
 
     void set_run_cli_func(run_cli_fn run_cli) { _run_cli = run_cli; }
     void setup_uarts(AP_SerialManager &serial_manager);
+#if CLI_ENABLED == ENABLED
     void handle_interactive_setup();
+#endif
 
 private:
 

ArduPlane/Plane.cpp

@@ -27,10 +27,6 @@ Plane::Plane(void)
     auto_state.takeoff_complete = true;
     auto_state.next_wp_no_crosstrack = true;
     auto_state.no_crosstrack = true;
-
-    if (plane.g.cli_enabled) {
-        gcs().set_run_cli_func(FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *));
-    }
 }
 
 Plane plane;

ArduPlane/system.cpp

@@ -124,6 +124,14 @@ void Plane::init_ardupilot()
     serial_manager.init();
     gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
 
+
+    // specify callback function for CLI menu system
+#if CLI_ENABLED == ENABLED
+    if (g.cli_enabled) {
+        gcs().set_run_cli_func(FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *));
+    }
+#endif
+
     // Register mavlink_delay_cb, which will run anytime you have
     // more than 5ms remaining in your call to hal.scheduler->delay
     hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);