AP_OADatabase: available regardless of hal-minimize-features

In Copter with minimize feature set the entire AP_PathPlanning feature including the database are unavailable
Rover has enough space for the database even with minimise features set

libraries/AC_Avoidance/AP_OABendyRuler.cpp

@@ -355,7 +355,6 @@ bool AP_OABendyRuler::calc_margin_from_inclusion_and_exclusion_circles(const Loc
 // on success returns true and updates margin
 bool AP_OABendyRuler::calc_margin_from_object_database(const Location &start, const Location &end, float &margin)
 {
-#if !HAL_MINIMIZE_FEATURES
     // exit immediately if db is empty
     AP_OADatabase *oaDb = AP::oadatabase();
     if (oaDb == nullptr || !oaDb->healthy()) {
@@ -386,6 +385,5 @@ bool AP_OABendyRuler::calc_margin_from_object_database(const Location &start, co
         return true;
     }
 
-#endif
     return false;
 }

libraries/AC_Avoidance/AP_OADatabase.cpp

@@ -13,8 +13,6 @@
 
 #include "AP_OADatabase.h"
 
-#if !HAL_MINIMIZE_FEATURES
-
 #include <AP_AHRS/AP_AHRS.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Math/AP_Math.h>
@@ -439,7 +437,6 @@ void AP_OADatabase::send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_
 
 // singleton instance
 AP_OADatabase *AP_OADatabase::_singleton;
-#endif //!HAL_MINIMIZE_FEATURES
 
 namespace AP {
 AP_OADatabase *oadatabase()

libraries/AC_Avoidance/AP_OADatabase.h

@@ -3,8 +3,6 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
-
-#if !HAL_MINIMIZE_FEATURES
 #include <AP_Param/AP_Param.h>
 
 class AP_OADatabase {
@@ -111,16 +109,6 @@ private:
 
     static AP_OADatabase *_singleton;
 };
-#else
-class AP_OADatabase {
-public:
-    static AP_OADatabase *get_singleton() { return nullptr; }
-    void init() {};
-    void queue_push(const Vector2f &pos, uint32_t timestamp_ms, float distance) {};
-    bool healthy() const { return false; }
-    void send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_ms) {};
-};
-#endif // #if !HAL_MINIMIZE_FEATURES
 
 namespace AP {
     AP_OADatabase *oadatabase();

libraries/AC_Avoidance/AP_OAPathPlanner.cpp

@@ -57,11 +57,9 @@ const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("MARGIN_MAX", 3, AP_OAPathPlanner, _margin_max, OA_MARGIN_MAX_DEFAULT),
 
-#if !HAL_MINIMIZE_FEATURES
     // @Group: DB_
     // @Path: AP_OADatabase.cpp
     AP_SUBGROUPINFO(_oadatabase, "DB_", 4, AP_OAPathPlanner, AP_OADatabase),
-#endif
 
     AP_GROUPEND
 };
@@ -195,7 +193,6 @@ AP_OAPathPlanner::OA_RetState AP_OAPathPlanner::mission_avoidance(const Location
 void AP_OAPathPlanner::avoidance_thread()
 {
     while (true) {
-#if !HAL_MINIMIZE_FEATURES
 
         // if database queue needs attention, service it faster
         if (_oadatabase.process_queue()) {
@@ -211,10 +208,6 @@ void AP_OAPathPlanner::avoidance_thread()
         avoidance_latest_ms = now;
 
         _oadatabase.update();
-#else
-        hal.scheduler->delay(100);
-        const uint32_t now = AP_HAL::millis();
-#endif
 
         Location origin_new;
         Location destination_new;

libraries/AC_Avoidance/AP_OAPathPlanner.h

@@ -91,9 +91,7 @@ private:
     AP_OABendyRuler *_oabendyruler; // Bendy Ruler algorithm
     AP_OADijkstra *_oadijkstra;     // Dijkstra's algorithm
     AP_OADatabase _oadatabase;      // Database of dynamic objects to avoid
-#if !HAL_MINIMIZE_FEATURES
     uint32_t avoidance_latest_ms;   // last time Dijkstra's or BendyRuler algorithms ran
-#endif
 
     static AP_OAPathPlanner *_singleton;
 };