From e2106e63bf794c7a8145474a334ffc332d97c9a8 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 14 Jun 2022 13:54:57 +0900
Subject: [PATCH] AP_Mount: add HAL_MOUNT_ALEXMOS_ENABLED build option

---
 libraries/AP_Mount/AP_Mount.cpp         |  2 ++
 libraries/AP_Mount/AP_Mount_Alexmos.cpp |  6 +++---
 libraries/AP_Mount/AP_Mount_Alexmos.h   | 13 ++++++++-----
 3 files changed, 13 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index ee94daa455..9ae07b70dc 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -453,10 +453,12 @@ void AP_Mount::init()
             _num_instances++;
 #endif // HAL_SOLO_GIMBAL_ENABLED
 
+#if HAL_MOUNT_ALEXMOS_ENABLED
         // check for Alexmos mounts
         } else if (mount_type == Mount_Type_Alexmos) {
             _backends[instance] = new AP_Mount_Alexmos(*this, state[instance], instance);
             _num_instances++;
+#endif
 
         // check for SToRM32 mounts using MAVLink protocol
         } else if (mount_type == Mount_Type_SToRM32) {
diff --git a/libraries/AP_Mount/AP_Mount_Alexmos.cpp b/libraries/AP_Mount/AP_Mount_Alexmos.cpp
index 6252a7819c..a02564e6ef 100644
--- a/libraries/AP_Mount/AP_Mount_Alexmos.cpp
+++ b/libraries/AP_Mount/AP_Mount_Alexmos.cpp
@@ -1,7 +1,7 @@
 #include "AP_Mount_Alexmos.h"
-#if HAL_MOUNT_ENABLED
-#include <AP_SerialManager/AP_SerialManager.h>
 
+#if HAL_MOUNT_ALEXMOS_ENABLED
+#include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_AHRS/AP_AHRS.h>
 
 extern const AP_HAL::HAL& hal;
@@ -307,4 +307,4 @@ void AP_Mount_Alexmos::read_incoming()
         }
     }
 }
-#endif // HAL_MOUNT_ENABLED
+#endif // HAL_MOUNT_ALEXMOS_ENABLED
diff --git a/libraries/AP_Mount/AP_Mount_Alexmos.h b/libraries/AP_Mount/AP_Mount_Alexmos.h
index 20f1c35299..3396176e26 100644
--- a/libraries/AP_Mount/AP_Mount_Alexmos.h
+++ b/libraries/AP_Mount/AP_Mount_Alexmos.h
@@ -3,13 +3,16 @@
 */
 #pragma once
 
-#include "AP_Mount.h"
-#if HAL_MOUNT_ENABLED
+#include "AP_Mount_Backend.h"
+
+#ifndef HAL_MOUNT_ALEXMOS_ENABLED
+#define HAL_MOUNT_ALEXMOS_ENABLED HAL_MOUNT_ENABLED
+#endif
+
+#if HAL_MOUNT_ALEXMOS_ENABLED
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
-#include "AP_Mount_Backend.h"
-
 
 //definition of the commands id for the Alexmos Serial Protocol
 #define CMD_READ_PARAMS 'R'
@@ -299,4 +302,4 @@ private:
     // confirmed that last command was ok
     bool _last_command_confirmed : 1;
 };
-#endif // HAL_MOUNT_ENABLED
+#endif // HAL_MOUNT_ALEXMOS_ENABLED