From 9d3ebf0d54f212c01012f33e48be6eaac4db4208 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Jun 2023 18:05:07 +1000
Subject: [PATCH] ArduPlane: add option to disable relay and servorelay
 libraries

---
 ArduPlane/ArduPlane.cpp  | 2 ++
 ArduPlane/Parameters.cpp | 2 ++
 ArduPlane/system.cpp     | 2 ++
 3 files changed, 6 insertions(+)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 2c68fa97ed..ed14053d0b 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -77,7 +77,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(ekf_check,              10,     75,  54),
     SCHED_TASK_CLASS(GCS,            (GCS*)&plane._gcs,       update_receive,   300,  500,  57),
     SCHED_TASK_CLASS(GCS,            (GCS*)&plane._gcs,       update_send,      300,  750,  60),
+#if AP_SERVORELAYEVENTS_ENABLED
     SCHED_TASK_CLASS(AP_ServoRelayEvents, &plane.ServoRelayEvents, update_events, 50, 150,  63),
+#endif
     SCHED_TASK_CLASS(AP_BattMonitor, &plane.battery, read,   10, 300,  66),
     SCHED_TASK_CLASS(AP_Baro, &plane.barometer, accumulate,  50, 150,  69),
     SCHED_TASK(read_rangefinder,       50,    100, 78),
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 583bb5b808..b27bf7dddb 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -754,9 +754,11 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: AP_Arming.cpp,../libraries/AP_Arming/AP_Arming.cpp
     GOBJECT(arming,                 "ARMING_", AP_Arming_Plane),
 
+#if AP_RELAY_ENABLED
     // @Group: RELAY_
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
     GOBJECT(relay,                  "RELAY_", AP_Relay),
+#endif
 
 #if PARACHUTE == ENABLED
 	// @Group: CHUTE_
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index e0ae140fd3..12fbd37c10 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -42,7 +42,9 @@ void Plane::init_ardupilot()
 #endif
     rc().init();
 
+#if AP_RELAY_ENABLED
     relay.init();
+#endif
 
     // initialise notify system
     notify.init();