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GCS_MAVLink: allow handling of AP_MAVLINK_MSG_HIL_GPS_ENABLED to be compiled out

This commit is contained in:
Peter Barker 2024-05-21 20:13:39 +10:00 committed by Andrew Tridgell
parent 05b8c28ea9
commit b7cf418d1e
2 changed files with 11 additions and 1 deletions
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6
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4121,9 +4121,13 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
#endif
#if AP_GPS_ENABLED
#if AP_MAVLINK_MSG_HIL_GPS_ENABLED
case MAVLINK_MSG_ID_HIL_GPS:
send_received_message_deprecation_warning("HIL_GPS");
FALLTHROUGH;
#endif
case MAVLINK_MSG_ID_GPS_RTCM_DATA:
case MAVLINK_MSG_ID_GPS_INPUT:
case MAVLINK_MSG_ID_HIL_GPS:
case MAVLINK_MSG_ID_GPS_INJECT_DATA:
AP::gps().handle_msg(chan, msg);
break;

6
libraries/GCS_MAVLink/GCS_config.h
View File

@ -59,6 +59,12 @@
#define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED HAL_GCS_ENABLED && HAL_RALLY_ENABLED
#endif
// handling of HIL_GPS is slated to be removed in 4.7; GPS_INPUT can be used
// in its place
#ifndef AP_MAVLINK_MSG_HIL_GPS_ENABLED
#define AP_MAVLINK_MSG_HIL_GPS_ENABLED 0
#endif
#ifndef AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
#define AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED HAL_GCS_ENABLED
#endif