AP_Camera: add and use AP_CAMERA_RELAY_ENABLED

libraries/AP_Camera/AP_Camera.cpp

@@ -90,10 +90,12 @@ void AP_Camera::init()
             _backends[instance] = new AP_Camera_Servo(*this, _params[instance], instance);
             _num_instances++;
 
+#if AP_CAMERA_RELAY_ENABLED
         // check for relay camera
         } else if (camera_type == CameraType::RELAY) {
             _backends[instance] = new AP_Camera_Relay(*this, _params[instance], instance);
             _num_instances++;
+#endif
 
 #if AP_CAMERA_SOLOGIMBAL_ENABLED
         // check for GoPro in Solo camera

libraries/AP_Camera/AP_Camera.h

@@ -48,7 +48,9 @@ public:
     enum class CameraType {
         NONE = 0,           // None
         SERVO = 1,          // Servo/PWM controlled camera
+#if AP_CAMERA_RELAY_ENABLED
         RELAY = 2,          // Relay controlled camera
+#endif
 #if AP_CAMERA_SOLOGIMBAL_ENABLED
         SOLOGIMBAL = 3,     // GoPro in Solo gimbal
 #endif

libraries/AP_Camera/AP_Camera_Relay.cpp

@@ -1,11 +1,9 @@
 #include "AP_Camera_Relay.h"
 
-#if AP_CAMERA_ENABLED
+#if AP_CAMERA_RELAY_ENABLED
 
 #include <AP_Relay/AP_Relay.h>
 
-extern const AP_HAL::HAL& hal;
-
 // update - should be called at 50hz
 void AP_Camera_Relay::update()
 {
@@ -53,5 +51,4 @@ bool AP_Camera_Relay::trigger_pic()
     return true;
 }
 
-
-#endif // AP_CAMERA_ENABLED
+#endif // AP_CAMERA_RELAY_ENABLED

libraries/AP_Camera/AP_Camera_Relay.h

@@ -20,7 +20,7 @@
 
 #include "AP_Camera_Backend.h"
 
-#if AP_CAMERA_ENABLED
+#if AP_CAMERA_RELAY_ENABLED
 
 class AP_Camera_Relay : public AP_Camera_Backend
 {
@@ -43,4 +43,4 @@ private:
     uint16_t trigger_counter;   // count of number of cycles shutter should be held open
 };
 
-#endif // AP_CAMERA_ENABLED
+#endif // AP_CAMERA_RELAY_ENABLED

libraries/AP_Camera/AP_Camera_config.h

@@ -19,6 +19,10 @@
 #define AP_CAMERA_MOUNT_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && HAL_MOUNT_ENABLED
 #endif
 
+#ifndef AP_CAMERA_RELAY_ENABLED
+#define AP_CAMERA_RELAY_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED
+#endif
+
 #ifndef AP_CAMERA_SOLOGIMBAL_ENABLED
 #define AP_CAMERA_SOLOGIMBAL_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && HAL_SOLO_GIMBAL_ENABLED
 #endif