From df3affc38c258ba6b6e5119e5d61b8923918759c Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 4 Mar 2022 16:38:15 +0000
Subject: [PATCH] AP_Frsky_Telem: fix complation without fence

---
 libraries/AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp | 4 ++++
 libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp | 2 ++
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp b/libraries/AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp
index 4f9ecaf0e9..cd3f23c672 100644
--- a/libraries/AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp
+++ b/libraries/AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp
@@ -142,6 +142,7 @@ MAV_RESULT AP_Frsky_MAVliteMsgHandler::handle_command_preflight_calibration_baro
 
 MAV_RESULT AP_Frsky_MAVliteMsgHandler::handle_command_do_fence_enable(const mavlink_command_long_t &mav_command_long)
 {
+#if AC_FENCE
     AC_Fence *fence = AP::fence();
     if (fence == nullptr) {
         return MAV_RESULT_UNSUPPORTED;
@@ -157,6 +158,9 @@ MAV_RESULT AP_Frsky_MAVliteMsgHandler::handle_command_do_fence_enable(const mavl
         default:
             return MAV_RESULT_FAILED;
     }
+#else
+    return MAV_RESULT_UNSUPPORTED;
+#endif // AC_FENCE
 }
 
 /*
diff --git a/libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp b/libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
index 3f7457f295..f210734de1 100644
--- a/libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
+++ b/libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
@@ -582,12 +582,14 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_ap_status(void)
     ap_status |= (uint8_t)(AP_Notify::flags.ekf_bad)<<AP_EKF_FS_OFFSET;
     // generic failsafe
     ap_status |= (uint8_t)(AP_Notify::flags.failsafe_battery||AP_Notify::flags.failsafe_ekf||AP_Notify::flags.failsafe_gcs||AP_Notify::flags.failsafe_radio)<<AP_FS_OFFSET;
+#if AC_FENCE
     // fence status
     AC_Fence *fence = AP::fence();
     if (fence != nullptr) {
         ap_status |= (uint8_t)(fence->enabled() && fence->present()) << AP_FENCE_PRESENT_OFFSET;
         ap_status |= (uint8_t)(fence->get_breaches()>0) << AP_FENCE_BREACH_OFFSET;
     }
+#endif
     // signed throttle [-100,100] scaled down to [-63,63] on 7 bits, MSB for sign + 6 bits for 0-63
     ap_status |= prep_number(gcs().get_hud_throttle()*0.63, 2, 0)<<AP_THROTTLE_OFFSET;
     // IMU temperature