From 339a07b8d352927e6f25651f389860912b8e3351 Mon Sep 17 00:00:00 2001
From: Shiv Tyagi <shivtyagi3015@gmail.com>
Date: Fri, 19 Nov 2021 09:04:22 +0530
Subject: [PATCH] AP_Devo_Telem: compile out devo telemetry

Devo telemetry is one of the most rarely used features (almost never used since added) we should compile it out from our code
---
 AntennaTracker/GCS_Tracker.cpp            |  2 ++
 ArduSub/GCS_Sub.cpp                       |  2 ++
 Tools/Replay/Replay.cpp                   |  2 ++
 libraries/AP_Devo_Telem/AP_Devo_Telem.cpp | 13 ++++++++-----
 libraries/AP_Devo_Telem/AP_Devo_Telem.h   |  6 ++++++
 libraries/GCS_MAVLink/GCS.h               |  3 +++
 libraries/GCS_MAVLink/GCS_Common.cpp      |  3 +++
 7 files changed, 26 insertions(+), 5 deletions(-)

diff --git a/AntennaTracker/GCS_Tracker.cpp b/AntennaTracker/GCS_Tracker.cpp
index 4c93f533a4..b4b16de62a 100644
--- a/AntennaTracker/GCS_Tracker.cpp
+++ b/AntennaTracker/GCS_Tracker.cpp
@@ -60,5 +60,7 @@ void GCS_Tracker::update_vehicle_sensor_status_flags()
 
 // avoid building/linking LTM:
 void AP_LTM_Telem::init() {};
+#if AP_DEVO_TELEM_ENABLED
 // avoid building/linking Devo:
 void AP_DEVO_Telem::init() {};
+#endif
diff --git a/ArduSub/GCS_Sub.cpp b/ArduSub/GCS_Sub.cpp
index 5f0aea7c05..e856c04cad 100644
--- a/ArduSub/GCS_Sub.cpp
+++ b/ArduSub/GCS_Sub.cpp
@@ -98,5 +98,7 @@ void GCS_Sub::update_vehicle_sensor_status_flags()
 
 // avoid building/linking LTM:
 void AP_LTM_Telem::init() {};
+#if AP_DEVO_TELEM_ENABLED
 // avoid building/linking Devo:
 void AP_DEVO_Telem::init() {};
+#endif
diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp
index 76c3948a8a..dec8902323 100644
--- a/Tools/Replay/Replay.cpp
+++ b/Tools/Replay/Replay.cpp
@@ -110,8 +110,10 @@ bool AP_AdvancedFailsafe::gcs_terminate(bool should_terminate, const char *reaso
 
 // avoid building/linking LTM:
 void AP_LTM_Telem::init() {};
+#if AP_DEVO_TELEM_ENABLED
 // avoid building/linking Devo:
 void AP_DEVO_Telem::init() {};
+#endif
 
 void ReplayVehicle::init_ardupilot(void)
 {
diff --git a/libraries/AP_Devo_Telem/AP_Devo_Telem.cpp b/libraries/AP_Devo_Telem/AP_Devo_Telem.cpp
index f0d4071e2f..6863b75c83 100644
--- a/libraries/AP_Devo_Telem/AP_Devo_Telem.cpp
+++ b/libraries/AP_Devo_Telem/AP_Devo_Telem.cpp
@@ -17,20 +17,22 @@
    DEVO Telemetry library
 */
 
-#define DEVOM_SYNC_BYTE        0xAA
 
 
-#define AP_SERIALMANAGER_DEVO_TELEM_BAUD        38400
-#define AP_SERIALMANAGER_DEVO_BUFSIZE_RX        0
-#define AP_SERIALMANAGER_DEVO_BUFSIZE_TX        32
-
 #include "AP_Devo_Telem.h"
 
+#if AP_DEVO_TELEM_ENABLED
+
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <GCS_MAVLink/GCS.h>
 
+#define DEVOM_SYNC_BYTE        0xAA
+#define AP_SERIALMANAGER_DEVO_TELEM_BAUD        38400
+#define AP_SERIALMANAGER_DEVO_BUFSIZE_RX        0
+#define AP_SERIALMANAGER_DEVO_BUFSIZE_TX        32
+
 extern const AP_HAL::HAL& hal;
 
 void AP_DEVO_Telem::init()
@@ -133,3 +135,4 @@ void AP_DEVO_Telem::tick(void)
         send_frames();
     }
 }
+#endif
diff --git a/libraries/AP_Devo_Telem/AP_Devo_Telem.h b/libraries/AP_Devo_Telem/AP_Devo_Telem.h
index 50f4dda089..79214ddfea 100644
--- a/libraries/AP_Devo_Telem/AP_Devo_Telem.h
+++ b/libraries/AP_Devo_Telem/AP_Devo_Telem.h
@@ -18,6 +18,11 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 
+#ifndef AP_DEVO_TELEM_ENABLED
+    #define AP_DEVO_TELEM_ENABLED   0
+#endif
+
+#if AP_DEVO_TELEM_ENABLED
 class AP_DEVO_Telem {
 public:
     //constructor
@@ -43,3 +48,4 @@ private:
     uint32_t _last_frame_ms;
 
 };
+#endif
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index f2d30bd55b..dbb23d262d 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -1050,6 +1050,9 @@ public:
 #if !HAL_MINIMIZE_FEATURES
     // LTM backend
     AP_LTM_Telem ltm_telemetry;
+#endif
+
+#if AP_DEVO_TELEM_ENABLED
     // Devo backend
     AP_DEVO_Telem devo_telemetry;
 #endif
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 733eb2c446..ee99bf909d 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -2232,6 +2232,9 @@ void GCS::setup_uarts()
     }
 #if !HAL_MINIMIZE_FEATURES
     ltm_telemetry.init();
+#endif
+
+#if AP_DEVO_TELEM_ENABLED
     devo_telemetry.init();
 #endif
 }