From b623b8ec9423514046f2e41c085f95088140fa75 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 27 Feb 2024 22:54:14 +1100
Subject: [PATCH] AP_SerialManager: move serial_manager parameters up to base
 class

---
 libraries/AP_SerialManager/AP_SerialManager.cpp      | 6 ++++++
 libraries/AP_SerialManager/AP_SerialManager.h        | 5 +++++
 libraries/AP_SerialManager/AP_SerialManager_config.h | 4 ++++
 libraries/AP_Vehicle/AP_Vehicle.cpp                  | 4 ++++
 libraries/AP_Vehicle/AP_Vehicle.h                    | 3 +++
 5 files changed, 22 insertions(+)

diff --git a/libraries/AP_SerialManager/AP_SerialManager.cpp b/libraries/AP_SerialManager/AP_SerialManager.cpp
index 3d2ed06f5a..c7cd66398f 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.cpp
+++ b/libraries/AP_SerialManager/AP_SerialManager.cpp
@@ -20,6 +20,10 @@
   find which serial port they should use
  */
 
+#include "AP_SerialManager_config.h"
+
+#if AP_SERIALMANAGER_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_RCProtocol/AP_RCProtocol.h>
@@ -867,3 +871,5 @@ AP_SerialManager &serialmanager()
 }
 
 }
+
+#endif  // AP_SERIALMANAGER_ENABLED
diff --git a/libraries/AP_SerialManager/AP_SerialManager.h b/libraries/AP_SerialManager/AP_SerialManager.h
index d569d1f066..6165102a1c 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.h
+++ b/libraries/AP_SerialManager/AP_SerialManager.h
@@ -22,6 +22,9 @@
 #pragma once
 
 #include "AP_SerialManager_config.h"
+
+#if AP_SERIALMANAGER_ENABLED
+
 #include <AP_Param/AP_Param.h>
 
 class AP_SerialManager {
@@ -207,3 +210,5 @@ private:
 namespace AP {
     AP_SerialManager &serialmanager();
 };
+
+#endif  // AP_SERIALMANAGER_ENABLED
diff --git a/libraries/AP_SerialManager/AP_SerialManager_config.h b/libraries/AP_SerialManager/AP_SerialManager_config.h
index 803fdd7219..fb25527a8f 100644
--- a/libraries/AP_SerialManager/AP_SerialManager_config.h
+++ b/libraries/AP_SerialManager/AP_SerialManager_config.h
@@ -39,6 +39,10 @@
 #define HAL_NUM_SERIAL_PORTS SERIALMANAGER_NUM_PORTS
 #endif
 
+#ifndef AP_SERIALMANAGER_ENABLED
+#define AP_SERIALMANAGER_ENABLED 1
+#endif
+
 /*
   array size for state[]. This needs to be at least
   SERIALMANAGER_NUM_PORTS, but we want it to be the same length on
diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 8a5733cc2a..43bb2aaf7c 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -294,8 +294,10 @@ void AP_Vehicle::setup()
     // load the default values of variables listed in var_info[]
     AP_Param::setup_sketch_defaults();
 
+#if AP_SERIALMANAGER_ENABLED
     // initialise serial port
     serial_manager.init_console();
+#endif
 
     DEV_PRINTF("\n\nInit %s"
                         "\n\nFree RAM: %u\n",
@@ -345,8 +347,10 @@ void AP_Vehicle::setup()
     gcs().init();
 #endif
 
+#if AP_SERIALMANAGER_ENABLED
     // initialise serial ports
     serial_manager.init();
+#endif
 #if HAL_GCS_ENABLED
     gcs().setup_console();
 #endif
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index b2783f3cb5..a6a7c1e995 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -354,7 +354,10 @@ protected:
 #if AP_VIDEOTX_ENABLED
     AP_VideoTX vtx;
 #endif
+
+#if AP_SERIALMANAGER_ENABLED
     AP_SerialManager serial_manager;
+#endif
 
 #if AP_RELAY_ENABLED
     AP_Relay relay;