From cf67b0a71a572c1b2baf46e821ad11cb4fe4613a 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] Rover: add option to disable relay and servorelay libraries

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

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index b2ae69aef5..5fb3ebf707 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -221,9 +221,11 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_Baro/AP_Baro.cpp
     GOBJECT(barometer, "BARO", AP_Baro),
 
+#if AP_RELAY_ENABLED
     // @Group: RELAY_
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
     GOBJECT(relay,                  "RELAY_", AP_Relay),
+#endif
 
     // @Group: RCMAP_
     // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index 9e5ba4f93d..2a429dd555 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -96,7 +96,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(RC_Channels,         (RC_Channels*)&rover.g2.rc_channels, read_mode_switch,        7,    200,  57),
     SCHED_TASK_CLASS(RC_Channels,         (RC_Channels*)&rover.g2.rc_channels, read_aux_all,           10,    200,  60),
     SCHED_TASK_CLASS(AP_BattMonitor,      &rover.battery,          read,           10,  300,  63),
+#if AP_SERVORELAYEVENTS_ENABLED
     SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events,  50,  200,  66),
+#endif
 #if AP_GRIPPER_ENABLED
     SCHED_TASK_CLASS(AP_Gripper,          &rover.g2.gripper,       update,         10,   75,  69),
 #endif
diff --git a/Rover/system.cpp b/Rover/system.cpp
index bd6ed6b1cc..0f425c1606 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -107,7 +107,9 @@ void Rover::init_ardupilot()
     optflow.init(MASK_LOG_OPTFLOW);
 #endif      // AP_OPTICALFLOW_ENABLED
 
+#if AP_RELAY_ENABLED
     relay.init();
+#endif
 
 #if HAL_MOUNT_ENABLED
     // initialise camera mount