From c11a6bbb47c116cbf1c462106a4c0723d5141229 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 20 May 2021 12:34:12 +1000
Subject: [PATCH] AP_Filesystem: add support for AP_Logger into AP_Periph

---
 libraries/AP_Filesystem/AP_Filesystem.cpp         | 5 +++++
 libraries/AP_Filesystem/AP_Filesystem_Mission.cpp | 4 ++++
 libraries/AP_Filesystem/AP_Filesystem_Sys.cpp     | 2 ++
 3 files changed, 11 insertions(+)

diff --git a/libraries/AP_Filesystem/AP_Filesystem.cpp b/libraries/AP_Filesystem/AP_Filesystem.cpp
index a3a8e8933b..dbc036e502 100644
--- a/libraries/AP_Filesystem/AP_Filesystem.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem.cpp
@@ -43,8 +43,11 @@ static AP_Filesystem_Param fs_param;
 #include "AP_Filesystem_Sys.h"
 static AP_Filesystem_Sys fs_sys;
 
+#include <AP_Mission/AP_Mission.h>
+#if HAL_MISSION_ENABLED
 #include "AP_Filesystem_Mission.h"
 static AP_Filesystem_Mission fs_mission;
+#endif
 
 /*
   mapping from filesystem prefix to backend
@@ -57,7 +60,9 @@ const AP_Filesystem::Backend AP_Filesystem::backends[] = {
     { "@PARAM/", fs_param },
     { "@SYS/", fs_sys },
     { "@SYS", fs_sys },
+#if HAL_MISSION_ENABLED
     { "@MISSION/", fs_mission },
+#endif
 };
 
 #define MAX_FD_PER_BACKEND 256U
diff --git a/libraries/AP_Filesystem/AP_Filesystem_Mission.cpp b/libraries/AP_Filesystem/AP_Filesystem_Mission.cpp
index f526dbecf1..d4cb9f34de 100644
--- a/libraries/AP_Filesystem/AP_Filesystem_Mission.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem_Mission.cpp
@@ -23,6 +23,8 @@
 #include <GCS_MAVLink/MissionItemProtocol_Rally.h>
 #include <GCS_MAVLink/MissionItemProtocol_Fence.h>
 
+#if HAL_MISSION_ENABLED
+
 extern const AP_HAL::HAL& hal;
 extern int errno;
 
@@ -397,3 +399,5 @@ bool AP_Filesystem_Mission::finish_upload(const rfile &r)
     }
     return true;
 }
+
+#endif
diff --git a/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp b/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp
index d25409e785..ebd7f03a02 100644
--- a/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp
@@ -90,9 +90,11 @@ int AP_Filesystem_Sys::open(const char *fname, int flags)
     if (strcmp(fname, "threads.txt") == 0) {
         hal.util->thread_info(*r.str);
     }
+#if HAL_SCHEDULER_ENABLED
     if (strcmp(fname, "tasks.txt") == 0) {
         AP::scheduler().task_info(*r.str);
     }
+#endif
     if (strcmp(fname, "dma.txt") == 0) {
         hal.util->dma_info(*r.str);
     }