From dd96d7c2059ab465362de050fa594b324b9fc543 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 7 Nov 2020 19:28:21 +1100
Subject: [PATCH] AP_DAL: fixed standalone linking

---
 libraries/AP_DAL/AP_DAL.cpp                            |  2 +-
 libraries/AP_DAL/examples/AP_DAL_Standalone/main.cpp   | 10 +++++++---
 .../AP_DAL/examples/AP_DAL_Standalone/nobuild.txt      |  0
 3 files changed, 8 insertions(+), 4 deletions(-)
 create mode 100644 libraries/AP_DAL/examples/AP_DAL_Standalone/nobuild.txt

diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp
index 3c32234a53..fd89b4a978 100644
--- a/libraries/AP_DAL/AP_DAL.cpp
+++ b/libraries/AP_DAL/AP_DAL.cpp
@@ -247,7 +247,7 @@ bool AP_DAL::ekf_low_time_remaining(EKFType etype, uint8_t core)
 {
     static_assert(INS_MAX_INSTANCES <= 4, "max 4 IMUs");
     const uint8_t mask = (1U<<(core+(uint8_t(etype)*4)));
-#if !APM_BUILD_TYPE(APM_BUILD_Replay)
+#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
     /*
       if we have used more than 1/3 of the time for a loop then we
       return true, indicating that we are low on CPU. This changes the
diff --git a/libraries/AP_DAL/examples/AP_DAL_Standalone/main.cpp b/libraries/AP_DAL/examples/AP_DAL_Standalone/main.cpp
index 0940deff9e..a88187b27b 100644
--- a/libraries/AP_DAL/examples/AP_DAL_Standalone/main.cpp
+++ b/libraries/AP_DAL/examples/AP_DAL_Standalone/main.cpp
@@ -4,14 +4,12 @@
 //
 
 #include <AP_DAL/AP_DAL.h>
-
 #include <AP_NavEKF3/AP_NavEKF3.h>
-
 #include <AP_Logger/AP_Logger.h>
 
 void AP_Param::setup_object_defaults(void const*, AP_Param::GroupInfo const*) {}
 
-int AP_HAL::Util::vsnprintf(char*, unsigned long, char const*, va_list) { return -1; }
+int AP_HAL::Util::vsnprintf(char*, size_t, char const*, va_list) { return -1; }
 
 void *nologger = nullptr;
 AP_Logger &AP::logger() {
@@ -54,14 +52,20 @@ public:
 AP_HAL_DAL_Standalone _hal;
 const AP_HAL::HAL &hal = _hal;
 
+#ifdef HAL_NO_GCS
 NavEKF2 navekf2;
 NavEKF3 navekf3;
+#endif
 
 int main(int argc, const char *argv[])
 {
+#ifdef HAL_NO_GCS
     navekf2.InitialiseFilter();
     navekf3.InitialiseFilter();
     navekf2.UpdateFilter();
     navekf3.UpdateFilter();
     return navekf2.healthy() && navekf3.healthy()?0:1;
+#else
+    return 0;
+#endif
 }
diff --git a/libraries/AP_DAL/examples/AP_DAL_Standalone/nobuild.txt b/libraries/AP_DAL/examples/AP_DAL_Standalone/nobuild.txt
new file mode 100644
index 0000000000..e69de29bb2