From f361d9b0d07aa249420b36861b7fcfaf2c7ebab8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 24 Dec 2021 19:17:50 +1100
Subject: [PATCH] AP_OpticalFlow: create and use AP_OPTICALFLOW_ENABLED

---
 libraries/AP_OpticalFlow/AP_OpticalFlow.cpp       | 12 +++++++++++-
 libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h |  2 +-
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
index 2cc0f158be..f9c266ea53 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
@@ -116,13 +116,17 @@ void OpticalFlow::init(uint32_t log_bit)
     case OpticalFlowType::NONE:
         break;
     case OpticalFlowType::PX4FLOW:
+#if AP_OPTICALFLOW_PX4FLOW_ENABLED
         backend = AP_OpticalFlow_PX4Flow::detect(*this);
+#endif
         break;
     case OpticalFlowType::PIXART:
+#if AP_OPTICALFLOW_PIXART_ENABLED
         backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this);
         if (backend == nullptr) {
             backend = AP_OpticalFlow_Pixart::detect("pixartPC15", *this);
         }
+#endif
         break;
     case OpticalFlowType::BEBOP:
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
@@ -130,13 +134,17 @@ void OpticalFlow::init(uint32_t log_bit)
 #endif
         break;
     case OpticalFlowType::CXOF:
+#if AP_OPTICALFLOW_CXOF_ENABLED
         backend = AP_OpticalFlow_CXOF::detect(*this);
+#endif
         break;
     case OpticalFlowType::MAVLINK:
+#if AP_OPTICALFLOW_MAV_ENABLED
         backend = AP_OpticalFlow_MAV::detect(*this);
+#endif
         break;
     case OpticalFlowType::UAVCAN:
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
+#if AP_OPTICALFLOW_HEREFLOW_ENABLED
         backend = new AP_OpticalFlow_HereFlow(*this);
 #endif
         break;
@@ -146,7 +154,9 @@ void OpticalFlow::init(uint32_t log_bit)
 #endif
         break;
     case OpticalFlowType::UPFLOW:
+#if AP_OPTICALFLOW_UPFLOW_ENABLED
         backend = AP_OpticalFlow_UPFLOW::detect(*this);
+#endif
         break;
     case OpticalFlowType::SITL:
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
index b152741ddf..46dc74094f 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
@@ -14,7 +14,7 @@
  */
 #pragma once
 
-#include <AP_HAL/AP_HAL_Boards.h>
+#include <AP_OpticalFlow/AP_OpticalFlow.h>
 
 #ifndef AP_OPTICALFLOW_ONBOARD_ENABLED
 #define AP_OPTICALFLOW_ONBOARD_ENABLED AP_OPTICALFLOW_ENABLED