From b6f92989a77e7a737fb61dbd4fc30bbdb6997ecd Mon Sep 17 00:00:00 2001
From: Samuel Tabor <samuelctabor@gmail.com>
Date: Wed, 23 Sep 2020 09:20:07 +0100
Subject: [PATCH] AP_Soaring: Only compile if HAL_SOARING_ENABLED.

---
 libraries/AP_Soaring/AP_Soaring.cpp | 3 +++
 libraries/AP_Soaring/AP_Soaring.h   | 4 ++++
 2 files changed, 7 insertions(+)

diff --git a/libraries/AP_Soaring/AP_Soaring.cpp b/libraries/AP_Soaring/AP_Soaring.cpp
index a3024455eb..2d301e5c97 100644
--- a/libraries/AP_Soaring/AP_Soaring.cpp
+++ b/libraries/AP_Soaring/AP_Soaring.cpp
@@ -4,6 +4,7 @@
 #include <stdint.h>
 extern const AP_HAL::HAL& hal;
 
+#if HAL_SOARING_ENABLED
 
 // ArduSoar parameters
 const AP_Param::GroupInfo SoaringController::var_info[] = {
@@ -470,3 +471,5 @@ bool SoaringController::check_drift(Vector2f prev_wp, Vector2f next_wp)
         return (powf(parallel,2)+powf(perpendicular,2)) > powf(max_drift,2);;
     }
 }
+
+#endif // HAL_SOARING_ENABLED
diff --git a/libraries/AP_Soaring/AP_Soaring.h b/libraries/AP_Soaring/AP_Soaring.h
index eecdf6d562..e7a628d5d7 100644
--- a/libraries/AP_Soaring/AP_Soaring.h
+++ b/libraries/AP_Soaring/AP_Soaring.h
@@ -20,6 +20,8 @@
  #define HAL_SOARING_ENABLED !HAL_MINIMIZE_FEATURES
 #endif
 
+#if HAL_SOARING_ENABLED
+
 #define INITIAL_THERMAL_STRENGTH 2.0
 #define INITIAL_THERMAL_RADIUS 80.0
 #define INITIAL_STRENGTH_COVARIANCE 0.0049
@@ -145,3 +147,5 @@ private:
 
     bool _exit_commanded;
 };
+
+#endif // HAL_SOARING_ENABLED
\ No newline at end of file