AP_Notify: gate mavlink access on HAL_GCS_ENABLED

via AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED

libraries/AP_Notify/AP_Notify.cpp

@@ -412,6 +412,7 @@ void AP_Notify::update(void)
     memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
 }
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
 // handle a LED_CONTROL message
 void AP_Notify::handle_led_control(const mavlink_message_t &msg)
 {
@@ -421,6 +422,7 @@ void AP_Notify::handle_led_control(const mavlink_message_t &msg)
         }
     }
 }
+#endif
 
 // handle RGB from Scripting or AP_Periph
 void AP_Notify::handle_rgb(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz)

libraries/AP_Notify/AP_Notify.h

@@ -151,8 +151,10 @@ public:
     /// update - allow updates of leds that cannot be updated during a timed interrupt
     void update(void);
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
     // handle a LED_CONTROL message
     static void handle_led_control(const mavlink_message_t &msg);
+#endif
 
     // handle RGB from Scripting or AP_Periph
     static void handle_rgb(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz = 0);

libraries/AP_Notify/AP_Notify_config.h

@@ -8,3 +8,7 @@
 #ifndef AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED
 #define AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED HAL_GCS_ENABLED
 #endif
+
+#ifndef AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
+#define AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED HAL_GCS_ENABLED
+#endif

libraries/AP_Notify/NotifyDevice.h

@@ -14,8 +14,10 @@ public:
     // called at 50Hz
     virtual void update() = 0;
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
     // handle a LED_CONTROL message, by default device ignore message
     virtual void handle_led_control(const mavlink_message_t &msg) {}
+#endif
 
     // play a MML tune
     virtual void play_tune(const char *tune) {}

libraries/AP_Notify/OreoLED_I2C.cpp

@@ -561,6 +561,7 @@ void OreoLED_I2C::send_sync(void)
 
 
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
 // Handle an LED_CONTROL mavlink message
 void OreoLED_I2C::handle_led_control(const mavlink_message_t &msg)
 {
@@ -645,6 +646,7 @@ void OreoLED_I2C::handle_led_control(const mavlink_message_t &msg)
     }
     _pattern_override = packet.pattern;
 }
+#endif
 
 OreoLED_I2C::oreo_state::oreo_state()
 {

libraries/AP_Notify/OreoLED_I2C.h

@@ -41,8 +41,10 @@ public:
     // called at 50Hz
     void update() override;
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
     // handle a LED_CONTROL message, by default device ignore message
     void handle_led_control(const mavlink_message_t &msg) override;
+#endif
 
 private:
     enum oreoled_pattern {

libraries/AP_Notify/RGBLed.cpp

@@ -225,6 +225,7 @@ void RGBLed::update()
     set_rgb(red_des, green_des, blue_des);
 }
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
 /*
   handle LED control, only used when LED_OVERRIDE=1
 */
@@ -251,6 +252,7 @@ void RGBLed::handle_led_control(const mavlink_message_t &msg)
         break;
     }
 }
+#endif
 
 /*
   update LED when in override mode

libraries/AP_Notify/RGBLed.h

@@ -32,8 +32,10 @@ public:
     // called at 50Hz
     virtual void update() override;
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
     // handle LED control, only used when LED_OVERRIDE=1
     virtual void handle_led_control(const mavlink_message_t &msg) override;
+#endif
 
     // RGB control
     // give RGB and flash rate, used with scripting