From 32c6ec061e46785b9913ae22409fd41f537987da Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 20 Jul 2022 00:57:14 -0400
Subject: [PATCH] sensors: add kconfig options to skip angular velocity and
 acceleration

---
 src/modules/sensors/CMakeLists.txt | 24 +++++++++++++++++------
 src/modules/sensors/Kconfig        |  8 ++++++++
 src/modules/sensors/sensors.cpp    | 31 +++++++++++++++++++++++++++---
 3 files changed, 54 insertions(+), 9 deletions(-)

diff --git a/src/modules/sensors/CMakeLists.txt b/src/modules/sensors/CMakeLists.txt
index 9af0ab04cb..1f84dec4db 100644
--- a/src/modules/sensors/CMakeLists.txt
+++ b/src/modules/sensors/CMakeLists.txt
@@ -35,14 +35,20 @@ add_subdirectory(data_validator)
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 
-add_subdirectory(vehicle_acceleration)
-add_subdirectory(vehicle_angular_velocity)
+if(CONFIG_SENSORS_VEHICLE_ACCELERATION)
+	add_subdirectory(vehicle_acceleration)
+endif()
+
 add_subdirectory(vehicle_imu)
 
 if(CONFIG_SENSORS_VEHICLE_AIR_DATA)
 	add_subdirectory(vehicle_air_data)
 endif()
 
+if(CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY)
+	add_subdirectory(vehicle_angular_velocity)
+endif()
+
 if(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
 	add_subdirectory(vehicle_gps_position)
 endif()
@@ -72,17 +78,23 @@ px4_add_module(
 		data_validator
 		mathlib
 		sensor_calibration
-		vehicle_acceleration
-		vehicle_angular_velocity
 		vehicle_imu
 	)
 
+if(CONFIG_SENSORS_VEHICLE_ACCELERATION)
+	target_link_libraries(modules__sensors PRIVATE vehicle_acceleration)
+endif()
+
+if(CONFIG_SENSORS_VEHICLE_AIR_DATA)
+	target_link_libraries(modules__sensors PRIVATE vehicle_air_data)
+endif()
+
 if(CONFIG_SENSORS_VEHICLE_AIRSPEED)
 	target_link_libraries(modules__sensors PRIVATE airspeed)
 endif()
 
-if(CONFIG_SENSORS_VEHICLE_AIR_DATA)
-	target_link_libraries(modules__sensors PRIVATE vehicle_air_data)
+if(CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY)
+	target_link_libraries(modules__sensors PRIVATE vehicle_angular_velocity)
 endif()
 
 if(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
diff --git a/src/modules/sensors/Kconfig b/src/modules/sensors/Kconfig
index 163ac29506..9319e80633 100644
--- a/src/modules/sensors/Kconfig
+++ b/src/modules/sensors/Kconfig
@@ -20,6 +20,14 @@ if MODULES_SENSORS
         bool "Include vehicle air data"
         default y
 
+    config SENSORS_VEHICLE_ANGULAR_VELOCITY
+        bool "Include vehicle angular velocity"
+        default y
+
+    config SENSORS_VEHICLE_ACCELERATION
+        bool "Include vehicle acceleration"
+        default y
+
     config SENSORS_VEHICLE_GPS_POSITION
         bool "Include vehicle gps position"
         default y
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 840d722597..ae7f718bb8 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -65,10 +65,12 @@
 #include <uORB/topics/vehicle_imu.h>
 
 #include "voted_sensors_update.h"
-#include "vehicle_acceleration/VehicleAcceleration.hpp"
-#include "vehicle_angular_velocity/VehicleAngularVelocity.hpp"
 #include "vehicle_imu/VehicleIMU.hpp"
 
+#if defined(CONFIG_SENSORS_VEHICLE_ACCELERATION)
+# include "vehicle_acceleration/VehicleAcceleration.hpp"
+#endif // CONFIG_SENSORS_VEHICLE_ACCELERATION
+
 #if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
 # include <drivers/drv_sensor.h>
 # include <drivers/drv_adc.h>
@@ -83,6 +85,10 @@
 # include "vehicle_air_data/VehicleAirData.hpp"
 #endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
 
+#if defined(CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY)
+# include "vehicle_angular_velocity/VehicleAngularVelocity.hpp"
+#endif // CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY
+
 #if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
 # include "vehicle_gps_position/VehicleGPSPosition.hpp"
 #endif // CONFIG_SENSORS_VEHICLE_GPS_POSITION
@@ -196,8 +202,13 @@ private:
 
 	VotedSensorsUpdate _voted_sensors_update;
 
-	VehicleAcceleration	_vehicle_acceleration;
+#if defined(CONFIG_SENSORS_VEHICLE_ACCELERATION)
+	VehicleAcceleration _vehicle_acceleration;
+#endif // CONFIG_SENSORS_VEHICLE_ACCELERATION
+
+#if defined(CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY)
 	VehicleAngularVelocity	_vehicle_angular_velocity;
+#endif // CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY
 
 #if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
 	VehicleAirData *_vehicle_air_data {nullptr};
@@ -276,8 +287,13 @@ Sensors::Sensors(bool hil_enabled) :
 {
 	_sensor_pub.advertise();
 
+#if defined(CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY)
 	_vehicle_angular_velocity.Start();
+#endif // CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY
+
+#if defined(CONFIG_SENSORS_VEHICLE_ACCELERATION)
 	_vehicle_acceleration.Start();
+#endif // CONFIG_SENSORS_VEHICLE_ACCELERATION
 
 #if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
 	/* Differential pressure offset */
@@ -315,8 +331,13 @@ Sensors::~Sensors()
 		sub.unregisterCallback();
 	}
 
+#if defined(CONFIG_SENSORS_VEHICLE_ACCELERATION)
 	_vehicle_acceleration.Stop();
+#endif // CONFIG_SENSORS_VEHICLE_ACCELERATION
+
+#if defined(CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY)
 	_vehicle_angular_velocity.Stop();
+#endif // CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY
 
 #if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
 
@@ -936,11 +957,15 @@ int Sensors::print_status()
 
 #endif // CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW
 
+#if defined(CONFIG_SENSORS_VEHICLE_ACCELERATION)
 	PX4_INFO_RAW("\n");
 	_vehicle_acceleration.PrintStatus();
+#endif // CONFIG_SENSORS_VEHICLE_ACCELERATION
 
+#if defined(CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY)
 	PX4_INFO_RAW("\n");
 	_vehicle_angular_velocity.PrintStatus();
+#endif // CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY
 
 #if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)