From c40b1627dda7cb882fdc43e502a980f870a6325a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 8 Nov 2023 09:23:42 +1100
Subject: [PATCH] Rover: make AP_RANGEFINDER_ENABLED remove more code

---
 Rover/GCS_Rover.cpp  | 2 ++
 Rover/Log.cpp        | 2 ++
 Rover/Parameters.cpp | 2 ++
 Rover/Rover.cpp      | 2 ++
 Rover/Rover.h        | 4 ++++
 Rover/sensors.cpp    | 2 ++
 Rover/system.cpp     | 2 ++
 7 files changed, 16 insertions(+)

diff --git a/Rover/GCS_Rover.cpp b/Rover/GCS_Rover.cpp
index 9ad82f7e32..0ed6c863f6 100644
--- a/Rover/GCS_Rover.cpp
+++ b/Rover/GCS_Rover.cpp
@@ -58,6 +58,7 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
     }
 #endif
 
+#if AP_RANGEFINDER_ENABLED
     const RangeFinder *rangefinder = RangeFinder::get_singleton();
     if (rangefinder && rangefinder->num_sensors() > 0) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
@@ -67,4 +68,5 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
             control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         }
     }
+#endif
 }
diff --git a/Rover/Log.cpp b/Rover/Log.cpp
index 97bee976df..6a3edb0184 100644
--- a/Rover/Log.cpp
+++ b/Rover/Log.cpp
@@ -29,6 +29,7 @@ void Rover::Log_Write_Attitude()
     }
 }
 
+#if AP_RANGEFINDER_ENABLED
 // Write a range finder depth message
 void Rover::Log_Write_Depth()
 {
@@ -83,6 +84,7 @@ void Rover::Log_Write_Depth()
     gcs().send_message(MSG_WATER_DEPTH);
 #endif
 }
+#endif
 
 // guided mode logging
 struct PACKED log_GuidedTarget {
diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 966785f699..592cc8941e 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -275,9 +275,11 @@ const AP_Param::Info Rover::var_info[] = {
 
     // AP_SerialManager was here
 
+#if AP_RANGEFINDER_ENABLED
     // @Group: RNGFND
     // @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp
     GOBJECT(rangefinder,                 "RNGFND", RangeFinder),
+#endif
 
     // @Group: INS
     // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index 0ed56318bc..7392ae6223 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -70,7 +70,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     //         Function name,          Hz,     us,
     SCHED_TASK(read_radio,             50,    200,   3),
     SCHED_TASK(ahrs_update,           400,    400,   6),
+#if AP_RANGEFINDER_ENABLED
     SCHED_TASK(read_rangefinders,      50,    200,   9),
+#endif
 #if AP_OPTICALFLOW_ENABLED
     SCHED_TASK_CLASS(AP_OpticalFlow,      &rover.optflow,          update,         200, 160,  11),
 #endif
diff --git a/Rover/Rover.h b/Rover/Rover.h
index ce67f66c78..2537f80e8f 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -206,8 +206,10 @@ private:
     // true if we have a position estimate from AHRS
     bool have_position;
 
+#if AP_RANGEFINDER_ENABLED
     // range finder last update for each instance (used for DPTH logging)
     uint32_t rangefinder_last_reading_ms[RANGEFINDER_MAX_INSTANCES];
+#endif
 
     // Ground speed
     // The amount current ground speed is below min ground speed.  meters per second
@@ -372,7 +374,9 @@ private:
     void update_compass(void);
     void compass_save(void);
     void update_wheel_encoder();
+#if AP_RANGEFINDER_ENABLED
     void read_rangefinders(void);
+#endif
 
     // Steering.cpp
     void set_servos(void);
diff --git a/Rover/sensors.cpp b/Rover/sensors.cpp
index aa9f791891..793fa4b726 100644
--- a/Rover/sensors.cpp
+++ b/Rover/sensors.cpp
@@ -87,6 +87,7 @@ void Rover::update_wheel_encoder()
 #endif
 }
 
+#if AP_RANGEFINDER_ENABLED
 // read the rangefinders
 void Rover::read_rangefinders(void)
 {
@@ -95,3 +96,4 @@ void Rover::read_rangefinders(void)
     Log_Write_Depth();
 #endif
 }
+#endif
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 4c45b7796a..451df4614e 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -40,9 +40,11 @@ void Rover::init_ardupilot()
     airspeed.set_log_bit(MASK_LOG_IMU);
 #endif
 
+#if AP_RANGEFINDER_ENABLED
     // initialise rangefinder
     rangefinder.set_log_rfnd_bit(MASK_LOG_RANGEFINDER);
     rangefinder.init(ROTATION_NONE);
+#endif
 
 #if HAL_PROXIMITY_ENABLED
     // init proximity sensor