From d54d3351de09742969c5368a14cf5e25be3cbc4d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 2 Apr 2018 11:16:44 +1000
Subject: [PATCH] SRV_Channel: check for rcout serial for blheli support

---
 libraries/SRV_Channel/SRV_Channel.h       |  2 ++
 libraries/SRV_Channel/SRV_Channel_aux.cpp |  4 +++-
 libraries/SRV_Channel/SRV_Channels.cpp    | 13 +++++++++++++
 3 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h
index 17659bf38b..e66681c760 100644
--- a/libraries/SRV_Channel/SRV_Channel.h
+++ b/libraries/SRV_Channel/SRV_Channel.h
@@ -449,9 +449,11 @@ private:
     AP_SBusOut sbus;
     static AP_SBusOut *sbus_ptr;
 
+#if HAL_SUPPORT_RCOUT_SERIAL
     // support for BLHeli protocol
     AP_BLHeli blheli;
     static AP_BLHeli *blheli_ptr;
+#endif
     static uint16_t disabled_mask;
     
     SRV_Channel obj_channels[NUM_SERVO_CHANNELS];
diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp
index d7330dbfda..bae8bc08d7 100644
--- a/libraries/SRV_Channel/SRV_Channel_aux.cpp
+++ b/libraries/SRV_Channel/SRV_Channel_aux.cpp
@@ -166,8 +166,10 @@ void SRV_Channels::enable_aux_servos()
             hal.rcout->enable_ch(channels[i].ch_num);
         }
     }
-    
+
+#if HAL_SUPPORT_RCOUT_SERIAL
     blheli_ptr->update();
+#endif
 }
 
 /// enable output channels using a channel mask
diff --git a/libraries/SRV_Channel/SRV_Channels.cpp b/libraries/SRV_Channel/SRV_Channels.cpp
index 1a1ea1587c..5d2dd69048 100644
--- a/libraries/SRV_Channel/SRV_Channels.cpp
+++ b/libraries/SRV_Channel/SRV_Channels.cpp
@@ -28,7 +28,11 @@ SRV_Channel *SRV_Channels::channels;
 SRV_Channels *SRV_Channels::instance;
 AP_Volz_Protocol *SRV_Channels::volz_ptr;
 AP_SBusOut *SRV_Channels::sbus_ptr;
+
+#if HAL_SUPPORT_RCOUT_SERIAL
 AP_BLHeli *SRV_Channels::blheli_ptr;
+#endif
+
 uint16_t SRV_Channels::disabled_mask;
 
 bool SRV_Channels::disabled_passthrough;
@@ -124,9 +128,11 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
     // @Path: ../AP_SBusOut/AP_SBusOut.cpp
     AP_SUBGROUPINFO(sbus, "_SBUS_",  20, SRV_Channels, AP_SBusOut),
 
+#if HAL_SUPPORT_RCOUT_SERIAL
     // @Group: _BLH_
     // @Path: ../AP_BLHeli/AP_BLHeli.cpp
     AP_SUBGROUPINFO(blheli, "_BLH_",  21, SRV_Channels, AP_BLHeli),
+#endif
     
     AP_GROUPEND
 };
@@ -149,7 +155,9 @@ SRV_Channels::SRV_Channels(void)
 
     volz_ptr = &volz;
     sbus_ptr = &sbus;
+#if HAL_SUPPORT_RCOUT_SERIAL
     blheli_ptr = &blheli;
+#endif
 }
 
 /*
@@ -217,4 +225,9 @@ void SRV_Channels::push()
 
     // give sbus library a chance to update
     sbus_ptr->update();
+
+#if HAL_SUPPORT_RCOUT_SERIAL
+    // give blheli telemetry a chance to update
+    blheli_ptr->update_telemetry();
+#endif
 }