From e6ac3689726a365b3cb02c6c502d1564a55988ea Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 4 Aug 2023 14:07:28 +1000
Subject: [PATCH] AP_GPS: make AP_GPS_MAV dependent on HAL_GCS_ENABLED

---
 libraries/AP_GPS/AP_GPS_MAV.cpp  |  7 +++++--
 libraries/AP_GPS/AP_GPS_MAV.h    | 12 ++++++------
 libraries/AP_GPS/AP_GPS_config.h |  5 +++++
 3 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_MAV.cpp b/libraries/AP_GPS/AP_GPS_MAV.cpp
index c195d96254..d5c3f4925e 100644
--- a/libraries/AP_GPS/AP_GPS_MAV.cpp
+++ b/libraries/AP_GPS/AP_GPS_MAV.cpp
@@ -16,11 +16,14 @@
 //
 //  MAVLINK GPS driver
 //
-#include "AP_GPS_MAV.h"
-#include <stdint.h>
+
+#include "AP_GPS_config.h"
 
 #if AP_GPS_MAV_ENABLED
 
+#include "AP_GPS_MAV.h"
+#include <stdint.h>
+
 // Reading does nothing in this class; we simply return whether or not
 // the latest reading has been consumed.  By calling this function we assume
 // the caller is consuming the new data;
diff --git a/libraries/AP_GPS/AP_GPS_MAV.h b/libraries/AP_GPS/AP_GPS_MAV.h
index f0c3872d79..5128949a9c 100644
--- a/libraries/AP_GPS/AP_GPS_MAV.h
+++ b/libraries/AP_GPS/AP_GPS_MAV.h
@@ -19,16 +19,15 @@
 //
 #pragma once
 
+#include "AP_GPS_config.h"
+
+#if AP_GPS_MAV_ENABLED
+
 #include <AP_HAL/AP_HAL_Boards.h>
 
 #include "AP_GPS.h"
 #include "GPS_Backend.h"
 
-#ifndef AP_GPS_MAV_ENABLED
-  #define AP_GPS_MAV_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
-#endif 
-
-#if AP_GPS_MAV_ENABLED
 class AP_GPS_MAV : public AP_GPS_Backend {
 public:
 
@@ -47,4 +46,5 @@ private:
     uint32_t first_week;
     JitterCorrection jitter{2000};
 };
-#endif
+
+#endif  // AP_GPS_MAV_ENABLED
diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h
index 99ea6a9d28..508307f02a 100644
--- a/libraries/AP_GPS/AP_GPS_config.h
+++ b/libraries/AP_GPS/AP_GPS_config.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL_Boards.h>
+#include <GCS_MAVLink/GCS_config.h>
 
 #ifndef AP_GPS_ENABLED
 #define AP_GPS_ENABLED 1
@@ -22,6 +23,10 @@
   #define AP_GPS_GSOF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
 #endif
 
+#ifndef AP_GPS_MAV_ENABLED
+  #define AP_GPS_MAV_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
+#endif
+
 #ifndef AP_GPS_NMEA_ENABLED
   #define AP_GPS_NMEA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
 #endif