AP_Mount: make mount/gimbal inclusion configurable per-board and disable Solo gimbal on all 1MB boards

libraries/AP_Mount/AP_Mount.cpp

@@ -1,6 +1,9 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include "AP_Mount.h"
+
+#if HAL_MOUNT_ENABLED
+
 #include "AP_Mount_Backend.h"
 #include "AP_Mount_Servo.h"
 #include "AP_Mount_SoloGimbal.h"
@@ -439,14 +442,12 @@ void AP_Mount::init()
             _backends[instance] = new AP_Mount_Servo(*this, state[instance], instance);
             _num_instances++;
 
-#if AP_AHRS_NAVEKF_AVAILABLE
-#if !HAL_MINIMIZE_FEATURES
+#if HAL_SOLO_GIMBAL_ENABLED
         // check for MAVLink mounts
         } else if (mount_type == Mount_Type_SoloGimbal) {
             _backends[instance] = new AP_Mount_SoloGimbal(*this, state[instance], instance);
             _num_instances++;
-#endif // HAL_MINIMIZE_FEATURES
-#endif // AP_AHRS_NAVEKF_AVAILABLE
+#endif // HAL_SOLO_GIMBAL_ENABLED
 
         // check for Alexmos mounts
         } else if (mount_type == Mount_Type_Alexmos) {
@@ -746,3 +747,5 @@ AP_Mount *mount()
 }
 
 };
+
+#endif /* HAL_MOUNT_ENABLED */

libraries/AP_Mount/AP_Mount.h

@@ -19,6 +19,19 @@
 ************************************************************/
 #pragma once
 
+#include <AP_HAL/AP_HAL.h>
+#include <AP_AHRS/AP_AHRS.h>
+
+#ifndef HAL_MOUNT_ENABLED
+#define HAL_MOUNT_ENABLED !HAL_MINIMIZE_FEATURES
+#endif
+
+#ifndef HAL_SOLO_GIMBAL_ENABLED
+#define HAL_SOLO_GIMBAL_ENABLED HAL_MOUNT_ENABLED && AP_AHRS_NAVEKF_AVAILABLE && BOARD_FLASH_SIZE > 1024
+#endif
+
+#if HAL_MOUNT_ENABLED
+
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Common/Location.h>
@@ -193,3 +206,5 @@ private:
 namespace AP {
     AP_Mount *mount();
 };
+
+#endif // HAL_MOUNT_ENABLED

libraries/AP_Mount/AP_Mount_Alexmos.cpp

@@ -1,4 +1,5 @@
 #include "AP_Mount_Alexmos.h"
+#if HAL_MOUNT_ENABLED
 #include <AP_GPS/AP_GPS.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 
@@ -293,3 +294,4 @@ void AP_Mount_Alexmos::read_incoming()
         }
     }
 }
+#endif // HAL_MOUNT_ENABLED

libraries/AP_Mount/AP_Mount_Alexmos.h

@@ -4,6 +4,7 @@
 #pragma once
 
 #include "AP_Mount.h"
+#if HAL_MOUNT_ENABLED
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
@@ -299,3 +300,4 @@ private:
     // confirmed that last command was ok
     bool _last_command_confirmed : 1;
 };
+#endif // HAL_MOUNT_ENABLED

libraries/AP_Mount/AP_Mount_Backend.cpp

@@ -1,4 +1,5 @@
 #include "AP_Mount_Backend.h"
+#if HAL_MOUNT_ENABLED
 #include <AP_AHRS/AP_AHRS.h>
 
 extern const AP_HAL::HAL& hal;
@@ -208,3 +209,5 @@ bool AP_Mount_Backend::calc_angle_to_location(const struct Location &target, Vec
     }
     return true;
 }
+
+#endif // HAL_MOUNT_ENABLED

libraries/AP_Mount/AP_Mount_Backend.h

@@ -21,6 +21,7 @@
 
 #include <AP_Common/AP_Common.h>
 #include "AP_Mount.h"
+#if HAL_MOUNT_ENABLED
 #include <RC_Channel/RC_Channel.h>
 
 class AP_Mount_Backend
@@ -125,3 +126,5 @@ private:
 
     void rate_input_rad(float &out, const RC_Channel *ch, float min, float max) const;
 };
+
+#endif // HAL_MOUNT_ENABLED

libraries/AP_Mount/AP_Mount_SToRM32.cpp

@@ -1,4 +1,5 @@
 #include "AP_Mount_SToRM32.h"
+#if HAL_MOUNT_ENABLED
 #include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_GPS/AP_GPS.h>
@@ -157,3 +158,4 @@ void AP_Mount_SToRM32::send_do_mount_control(float pitch_deg, float roll_deg, fl
     // store time of send
     _last_send = AP_HAL::millis();
 }
+#endif // HAL_MOUNT_ENABLED

libraries/AP_Mount/AP_Mount_SToRM32.h

@@ -10,6 +10,7 @@
 #include <AP_Common/AP_Common.h>
 #include <RC_Channel/RC_Channel.h>
 #include "AP_Mount_Backend.h"
+#if HAL_MOUNT_ENABLED
 
 #define AP_MOUNT_STORM32_RESEND_MS  1000    // resend angle targets to gimbal once per second
 #define AP_MOUNT_STORM32_SEARCH_MS  60000   // search for gimbal for 1 minute after startup
@@ -51,3 +52,4 @@ private:
     mavlink_channel_t _chan;        // mavlink channel used to communicate with gimbal.  Currently hard-coded to Telem2
     uint32_t _last_send;            // system time of last do_mount_control sent to gimbal
 };
+#endif // HAL_MOUNT_ENABLED

libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp

@@ -1,4 +1,5 @@
 #include "AP_Mount_SToRM32_serial.h"
+#if HAL_MOUNT_ENABLED
 #include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <GCS_MAVLink/include/mavlink/v2.0/checksum.h>
@@ -284,3 +285,4 @@ void AP_Mount_SToRM32_serial::parse_reply() {
             break;
     }
 }
+#endif // HAL_MOUNT_ENABLED

libraries/AP_Mount/AP_Mount_SToRM32_serial.h

@@ -10,6 +10,7 @@
 #include <AP_Common/AP_Common.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include "AP_Mount_Backend.h"
+#if HAL_MOUNT_ENABLED
 
 #define AP_MOUNT_STORM32_SERIAL_RESEND_MS   1000    // resend angle targets to gimbal once per second
 
@@ -147,3 +148,4 @@ private:
     // keep the last _current_angle values
     Vector3l _current_angle;
 };
+#endif // HAL_MOUNT_ENABLED

libraries/AP_Mount/AP_Mount_Servo.cpp

@@ -1,4 +1,5 @@
 #include "AP_Mount_Servo.h"
+#if HAL_MOUNT_ENABLED
 #include <AP_GPS/AP_GPS.h>
 
 extern const AP_HAL::HAL& hal;
@@ -209,3 +210,4 @@ void AP_Mount_Servo::move_servo(uint8_t function_idx, int16_t angle, int16_t ang
 	int16_t servo_out = closest_limit(angle, angle_min, angle_max);
 	SRV_Channels::move_servo((SRV_Channel::Aux_servo_function_t)function_idx, servo_out, angle_min, angle_max);
 }
+#endif // HAL_MOUNT_ENABLED

libraries/AP_Mount/AP_Mount_Servo.h

@@ -9,6 +9,7 @@
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <SRV_Channel/SRV_Channel.h>
 #include "AP_Mount_Backend.h"
+#if HAL_MOUNT_ENABLED
 
 class AP_Mount_Servo : public AP_Mount_Backend
 {
@@ -70,3 +71,4 @@ private:
 
     uint32_t _last_check_servo_map_ms;  // system time of latest call to check_servo_map function
 };
+#endif // HAL_MOUNT_ENABLED

libraries/AP_Mount/AP_Mount_SoloGimbal.cpp

@@ -1,8 +1,8 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
-#if AP_AHRS_NAVEKF_AVAILABLE
-
 #include "AP_Mount_SoloGimbal.h"
+#if HAL_SOLO_GIMBAL_ENABLED
+
 #include "SoloGimbal.h"
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
@@ -158,4 +158,4 @@ void AP_Mount_SoloGimbal::send_gimbal_report(mavlink_channel_t chan)
 {
 }
 
-#endif // AP_AHRS_NAVEKF_AVAILABLE
+#endif // HAL_SOLO_GIMBAL_ENABLED

libraries/AP_Mount/AP_Mount_SoloGimbal.h

@@ -7,12 +7,12 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
 
-#if AP_AHRS_NAVEKF_AVAILABLE
+#include "AP_Mount_Backend.h"
+#if HAL_SOLO_GIMBAL_ENABLED
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <RC_Channel/RC_Channel.h>
-#include "AP_Mount_Backend.h"
 #include "SoloGimbal.h"
 
 
@@ -60,4 +60,4 @@ private:
     SoloGimbal _gimbal;
 };
 
-#endif // AP_AHRS_NAVEKF_AVAILABLE
+#endif // HAL_SOLO_GIMBAL_ENABLED

libraries/AP_Mount/SoloGimbal.cpp

@@ -1,9 +1,9 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
-#if AP_AHRS_NAVEKF_AVAILABLE
-
 #include "SoloGimbal.h"
 
+#if HAL_SOLO_GIMBAL_ENABLED
+
 #include <stdio.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
@@ -529,4 +529,4 @@ void SoloGimbal::joint_rates_to_gimbal_ang_vel(const Vector3f& joint_rates, Vect
     ang_vel.z = sin_theta*joint_rates.x+cos_theta*cos_phi*joint_rates.z;
 }
 
-#endif // AP_AHRS_NAVEKF_AVAILABLE
+#endif // HAL_SOLO_GIMBAL_ENABLED

libraries/AP_Mount/SoloGimbal.h

@@ -8,9 +8,8 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
-#if AP_AHRS_NAVEKF_AVAILABLE
-
 #include "AP_Mount.h"
+#if HAL_SOLO_GIMBAL_ENABLED
 #include "SoloGimbalEKF.h"
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
@@ -146,4 +145,4 @@ private:
     Vector3f _log_del_vel;
 };
 
-#endif // AP_AHRS_NAVEKF_AVAILABLE
+#endif // HAL_SOLO_GIMBAL_ENABLED

libraries/AP_Mount/SoloGimbalEKF.cpp

@@ -9,6 +9,7 @@
 #endif
 
 #include "SoloGimbalEKF.h"
+#if HAL_SOLO_GIMBAL_ENABLED
 #include <AP_Param/AP_Param.h>
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_NavEKF/AP_Nav_Common.h>
@@ -961,4 +962,5 @@ bool SoloGimbalEKF::getStatus() const
     float run_time = AP_HAL::millis() - StartTime_ms;
     return  YawAligned && (run_time > 15000);
 }
+#endif // HAL_SOLO_GIMBAL_ENABLED
 

libraries/AP_Mount/SoloGimbalEKF.h

@@ -21,7 +21,8 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_Param/AP_Param.h>
 //#include <AP_NavEKF2/AP_NavEKF2.h>
-
+#include "AP_Mount.h"
+#if HAL_SOLO_GIMBAL_ENABLED
 #include <AP_Math/vectorN.h>
 
 class SoloGimbalEKF
@@ -125,3 +126,4 @@ private:
     // Force symmmetry and non-negative diagonals on state covarinace matrix
     void fixCovariance();
 };
+#endif // HAL_SOLO_GIMBAL_ENABLED

libraries/AP_Mount/SoloGimbal_Parameters.cpp

@@ -1,4 +1,5 @@
 #include "SoloGimbal_Parameters.h"
+#if HAL_SOLO_GIMBAL_ENABLED
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
@@ -292,3 +293,5 @@ bool SoloGimbal_Parameters::flashing()
 {
     return _flashing_step != GMB_PARAM_NOT_FLASHING;
 }
+
+#endif // HAL_SOLO_GIMBAL_ENABLED

libraries/AP_Mount/SoloGimbal_Parameters.h

@@ -2,6 +2,8 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
+#include "AP_Mount.h"
+#if HAL_SOLO_GIMBAL_ENABLED
 
 enum gmb_param_state_t {
     GMB_PARAMSTATE_NOT_YET_READ=0, // parameter has yet to be initialized
@@ -88,3 +90,5 @@ private:
 
     mavlink_channel_t _chan;
 };
+
+#endif // HAL_SOLO_GIMBAL_ENABLED