From 0824eca7761b52c86f12fb854b997b9fcc723eff Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 25 Sep 2023 18:16:34 +1000
Subject: [PATCH] AP_GPS: use AP_GPS_ENABLED to exclude more code when GPS not
 compiled in

---
 libraries/AP_GPS/AP_GPS.cpp                            |  6 ++++++
 libraries/AP_GPS/AP_GPS.h                              | 10 ++++++----
 libraries/AP_GPS/AP_GPS_UBLOX.h                        |  6 ++++--
 libraries/AP_GPS/AP_GPS_config.h                       |  8 ++++++--
 libraries/AP_GPS/GPS_Backend.cpp                       |  6 ++++++
 libraries/AP_GPS/GPS_Backend.h                         |  6 ++++++
 .../AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat   |  1 +
 7 files changed, 35 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index fa77cf3dd0..23033fd0b4 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -12,6 +12,10 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+#include "AP_GPS_config.h"
+
+#if AP_GPS_ENABLED
+
 #include "AP_GPS.h"
 
 #include <AP_Common/AP_Common.h>
@@ -2330,3 +2334,5 @@ AP_GPS &gps()
 }
 
 };
+
+#endif  // AP_GPS_ENABLED
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index fb6b5740c4..a097e25138 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_GPS_config.h"
+
+#if AP_GPS_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <inttypes.h>
 #include <AP_Common/AP_Common.h>
@@ -59,10 +63,6 @@
 #define GPS_MOVING_BASELINE GPS_MAX_RECEIVERS>1
 #endif
 
-#ifndef HAL_MSP_GPS_ENABLED
-#define HAL_MSP_GPS_ENABLED HAL_MSP_SENSORS_ENABLED
-#endif
-
 #if GPS_MOVING_BASELINE
 #include "MovingBase.h"
 #endif // GPS_MOVING_BASELINE
@@ -791,3 +791,5 @@ private:
 namespace AP {
     AP_GPS &gps();
 };
+
+#endif  // AP_GPS_ENABLED
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
index eea8967af9..68afe623b4 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.h
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -20,11 +20,13 @@
 //  UBlox Lea6H protocol: http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
 #pragma once
 
-#include "AP_GPS.h"
-#include "GPS_Backend.h"
+#include "AP_GPS_config.h"
 
 #if AP_GPS_UBLOX_ENABLED
 
+#include "AP_GPS.h"
+#include "GPS_Backend.h"
+
 #include <AP_HAL/AP_HAL.h>
 
 /*
diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h
index 508307f02a..954a1f3bcf 100644
--- a/libraries/AP_GPS/AP_GPS_config.h
+++ b/libraries/AP_GPS/AP_GPS_config.h
@@ -12,7 +12,7 @@
 #endif
 
 #ifndef AP_GPS_DRONECAN_ENABLED
-#define AP_GPS_DRONECAN_ENABLED HAL_ENABLE_DRONECAN_DRIVERS
+#define AP_GPS_DRONECAN_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS
 #endif
 
 #ifndef AP_GPS_ERB_ENABLED
@@ -27,6 +27,10 @@
   #define AP_GPS_MAV_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
 #endif
 
+#ifndef HAL_MSP_GPS_ENABLED
+#define HAL_MSP_GPS_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_MSP_SENSORS_ENABLED
+#endif
+
 #ifndef AP_GPS_NMEA_ENABLED
   #define AP_GPS_NMEA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
 #endif
@@ -56,5 +60,5 @@
 #endif
 
 #ifndef AP_GPS_UBLOX_ENABLED
-  #define AP_GPS_UBLOX_ENABLED 1
+  #define AP_GPS_UBLOX_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
 #endif
diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index a6e28c5fa6..300a3bda79 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_GPS_config.h"
+
+#if AP_GPS_ENABLED
+
 #include "AP_GPS.h"
 #include "GPS_Backend.h"
 #include <AP_Logger/AP_Logger.h>
@@ -524,3 +528,5 @@ void AP_GPS_Backend::logging_start(void)
     logging_loop();
 }
 #endif // AP_GPS_DEBUG_LOGGING_ENABLED
+
+#endif  // AP_GPS_ENABLED
diff --git a/libraries/AP_GPS/GPS_Backend.h b/libraries/AP_GPS/GPS_Backend.h
index 38db811785..f69125f145 100644
--- a/libraries/AP_GPS/GPS_Backend.h
+++ b/libraries/AP_GPS/GPS_Backend.h
@@ -18,6 +18,10 @@
  */
 #pragma once
 
+#include "AP_GPS_config.h"
+
+#if AP_GPS_ENABLED
+
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <GCS_MAVLink/GCS_config.h>
 #include <AP_RTC/JitterCorrection.h>
@@ -180,3 +184,5 @@ private:
 #endif
 
 };
+
+#endif  // AP_GPS_ENABLED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
index e3f0538e2a..1ddb85368e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
@@ -218,6 +218,7 @@ define AP_AIRSPEED_ASP5033_ENABLED 1
 define AP_GPS_BACKEND_DEFAULT_ENABLED 0 
 define AP_GPS_UBLOX_ENABLED 1
 define AP_GPS_NMEA_ENABLED 1
+define HAL_MSP_GPS_ENABLED 1
 
 define AP_TRAMP_ENABLED 1