From f47e60d1eacc5b201675863dd583859dbf9bdaa4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 3 Mar 2023 11:48:38 +1100
Subject: [PATCH] AP_HAL_ChibiOS: add and use AP_WINCH_ENABLED

---
 ArduCopter/Copter.h                                          | 1 +
 ArduCopter/config.h                                          | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/include/minimize_features.inc | 3 +++
 libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py      | 4 ++++
 4 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index bbd39eec77..12ece2d13e 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -70,6 +70,7 @@
 #include <AP_ADSB/AP_ADSB.h>                // ADS-B RF based collision avoidance module library
 #include <AP_Proximity/AP_Proximity.h>      // ArduPilot proximity sensor library
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
+#include <AP_Winch/AP_Winch_config.h>
 
 // Configuration
 #include "defines.h"
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 222a2355b3..d31cc0a71b 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -147,7 +147,7 @@
 //////////////////////////////////////////////////////////////////////////////
 // winch support
 #ifndef WINCH_ENABLED
-# define WINCH_ENABLED !HAL_MINIMIZE_FEATURES
+# define WINCH_ENABLED AP_WINCH_ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/include/minimize_features.inc b/libraries/AP_HAL_ChibiOS/hwdef/include/minimize_features.inc
index 39da1694d1..19088c6c64 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/include/minimize_features.inc
+++ b/libraries/AP_HAL_ChibiOS/hwdef/include/minimize_features.inc
@@ -49,3 +49,6 @@ define NUM_SERVO_CHANNELS 16
 define HAL_PLUSCODE_ENABLE 0
 define HAL_OSD_SIDEBAR_ENABLE 0
 define OSD_PARAM_ENABLED 0
+
+# no Winch if minimized:
+define AP_WINCH_ENABLED 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 23eb54dcf2..2df4ac1f80 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -3019,6 +3019,10 @@ def add_apperiph_defaults(f):
 #define HAL_ENABLE_SAVE_PERSISTENT_PARAMS 0
 #endif
 
+#ifndef AP_WINCH_ENABLED
+#define AP_WINCH_ENABLED 0
+#endif
+
 // end AP_Periph defaults
 ''')