AP_Camera: add and use AP_CAMERA_MOUNT_ENABLED

libraries/AP_Camera/AP_Camera.cpp

@@ -102,10 +102,12 @@ void AP_Camera::init()
             _num_instances++;
 #endif
 
+#if AP_CAMERA_MOUNT_ENABLED
         // check for Mount camera
         } else if (camera_type == CameraType::MOUNT) {
             _backends[instance] = new AP_Camera_Mount(*this, _params[instance], instance);
             _num_instances++;
+#endif
 
         // check for MAVLink enabled camera driver
         } else if (camera_type == CameraType::MAVLINK) {

libraries/AP_Camera/AP_Camera.h

@@ -50,7 +50,9 @@ public:
         SERVO = 1,          // Servo/PWM controlled camera
         RELAY = 2,          // Relay controlled camera
         SOLOGIMBAL = 3,     // GoPro in Solo gimbal
+#if AP_CAMERA_MOUNT_ENABLED
         MOUNT = 4,          // Mount library implements camera
+#endif
         MAVLINK = 5,        // MAVLink enabled camera
     };
 

libraries/AP_Camera/AP_Camera_Mount.cpp

@@ -1,6 +1,6 @@
 #include "AP_Camera_Mount.h"
 
-#if AP_CAMERA_ENABLED
+#if AP_CAMERA_MOUNT_ENABLED
 #include <AP_Mount/AP_Mount.h>
 
 extern const AP_HAL::HAL& hal;
@@ -8,13 +8,11 @@ extern const AP_HAL::HAL& hal;
 // entry point to actually take a picture.  returns true on success
 bool AP_Camera_Mount::trigger_pic()
 {
-#if HAL_MOUNT_ENABLED
     AP_Mount* mount = AP::mount();
     if (mount != nullptr) {
         mount->take_picture(0);
         return true;
     }
-#endif
     return false;
 }
 
@@ -22,12 +20,10 @@ bool AP_Camera_Mount::trigger_pic()
 // start_recording should be true to start recording, false to stop recording
 bool AP_Camera_Mount::record_video(bool start_recording)
 {
-#if HAL_MOUNT_ENABLED
     AP_Mount* mount = AP::mount();
     if (mount != nullptr) {
         return mount->record_video(0, start_recording);
     }
-#endif
     return false;
 }
 
@@ -35,12 +31,10 @@ bool AP_Camera_Mount::record_video(bool start_recording)
 // zoom out = -1, hold = 0, zoom in = 1
 bool AP_Camera_Mount::set_zoom_step(int8_t zoom_step)
 {
-#if HAL_MOUNT_ENABLED
     AP_Mount* mount = AP::mount();
     if (mount != nullptr) {
         return mount->set_zoom_step(0, zoom_step);
     }
-#endif
     return false;
 }
 
@@ -48,25 +42,21 @@ bool AP_Camera_Mount::set_zoom_step(int8_t zoom_step)
 // focus in = -1, focus hold = 0, focus out = 1
 bool AP_Camera_Mount::set_manual_focus_step(int8_t focus_step)
 {
-#if HAL_MOUNT_ENABLED
     AP_Mount* mount = AP::mount();
     if (mount != nullptr) {
         return mount->set_manual_focus_step(0, focus_step);
     }
-#endif
     return false;
 }
 
 // auto focus.  returns true on success
 bool AP_Camera_Mount::set_auto_focus()
 {
-#if HAL_MOUNT_ENABLED
     AP_Mount* mount = AP::mount();
     if (mount != nullptr) {
         return mount->set_auto_focus(0);
     }
-#endif
     return false;
 }
 
-#endif // AP_CAMERA_ENABLED
+#endif // AP_CAMERA_MOUNT_ENABLED

libraries/AP_Camera/AP_Camera_Mount.h

@@ -20,7 +20,7 @@
 
 #include "AP_Camera_Backend.h"
 
-#if AP_CAMERA_ENABLED
+#if AP_CAMERA_MOUNT_ENABLED
 
 class AP_Camera_Mount : public AP_Camera_Backend
 {
@@ -51,4 +51,4 @@ public:
     bool set_auto_focus() override;
 };
 
-#endif // AP_CAMERA_ENABLED
+#endif // AP_CAMERA_MOUNT_ENABLED

libraries/AP_Camera/AP_Camera_config.h

@@ -1,7 +1,16 @@
 #pragma once
 
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_Mount/AP_Mount_config.h>
 
 #ifndef AP_CAMERA_ENABLED
 #define AP_CAMERA_ENABLED 1
 #endif
+
+#ifndef AP_CAMERA_BACKEND_DEFAULT_ENABLED
+#define AP_CAMERA_BACKEND_DEFAULT_ENABLED AP_CAMERA_ENABLED
+#endif
+
+#ifndef AP_CAMERA_MOUNT_ENABLED
+#define AP_CAMERA_MOUNT_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && HAL_MOUNT_ENABLED
+#endif