AP_Soaring: Only compile if HAL_SOARING_ENABLED.

libraries/AP_Soaring/AP_Soaring.cpp

@@ -4,6 +4,7 @@
 #include <stdint.h>
 extern const AP_HAL::HAL& hal;
 
+#if HAL_SOARING_ENABLED
 
 // ArduSoar parameters
 const AP_Param::GroupInfo SoaringController::var_info[] = {
@@ -470,3 +471,5 @@ bool SoaringController::check_drift(Vector2f prev_wp, Vector2f next_wp)
         return (powf(parallel,2)+powf(perpendicular,2)) > powf(max_drift,2);;
     }
 }
+
+#endif // HAL_SOARING_ENABLED

libraries/AP_Soaring/AP_Soaring.h

@@ -20,6 +20,8 @@
  #define HAL_SOARING_ENABLED !HAL_MINIMIZE_FEATURES
 #endif
 
+#if HAL_SOARING_ENABLED
+
 #define INITIAL_THERMAL_STRENGTH 2.0
 #define INITIAL_THERMAL_RADIUS 80.0
 #define INITIAL_STRENGTH_COVARIANCE 0.0049
@@ -145,3 +147,5 @@ private:
 
     bool _exit_commanded;
 };
+
+#endif // HAL_SOARING_ENABLED