Stop queuing ap_message ids which can't be sent

AntennaTracker/GCS_Mavlink.cpp

@@ -274,7 +274,9 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
 static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_SYS_STATUS,
     MSG_POWER_STATUS,
+#if HAL_WITH_MCU_MONITORING
     MSG_MCU_STATUS,
+#endif
     MSG_MEMINFO,
     MSG_NAV_CONTROLLER_OUTPUT,
     MSG_GPS_RAW,
@@ -301,7 +303,9 @@ static const ap_message STREAM_EXTRA1_msgs[] = {
 };
 static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_AHRS,
+#if AP_SIM_ENABLED
     MSG_SIMSTATE,
+#endif
     MSG_SYSTEM_TIME,
     MSG_AHRS2,
 #if COMPASS_CAL_ENABLED

ArduCopter/GCS_Mavlink.cpp

@@ -311,17 +311,17 @@ void GCS_MAVLINK_Copter::send_pid_tuning()
     }
 }
 
+#if AP_WINCH_ENABLED
 // send winch status message
 void GCS_MAVLINK_Copter::send_winch_status() const
 {
-#if AP_WINCH_ENABLED
     AP_Winch *winch = AP::winch();
     if (winch == nullptr) {
         return;
     }
     winch->send_status(*this);
-#endif
 }
+#endif
 
 uint8_t GCS_MAVLINK_Copter::sysid_my_gcs() const
 {
@@ -503,7 +503,9 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
 static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_SYS_STATUS,
     MSG_POWER_STATUS,
+#if HAL_WITH_MCU_MONITORING
     MSG_MCU_STATUS,
+#endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
     MSG_GPS_RAW,
@@ -529,7 +531,9 @@ static const ap_message STREAM_RC_CHANNELS_msgs[] = {
 };
 static const ap_message STREAM_EXTRA1_msgs[] = {
     MSG_ATTITUDE,
+#if AP_SIM_ENABLED
     MSG_SIMSTATE,
+#endif
     MSG_AHRS2,
     MSG_PID_TUNING // Up to four PID_TUNING messages are sent, depending on GCS_PID_MASK parameter
 };
@@ -548,8 +552,12 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #if AP_BATTERY_ENABLED
     MSG_BATTERY_STATUS,
 #endif
+#if HAL_MOUNT_ENABLED
     MSG_GIMBAL_DEVICE_ATTITUDE_STATUS,
+#endif
+#if AP_OPTICALFLOW_ENABLED
     MSG_OPTICAL_FLOW,
+#endif
 #if COMPASS_CAL_ENABLED
     MSG_MAG_CAL_REPORT,
     MSG_MAG_CAL_PROGRESS,
@@ -559,8 +567,12 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #if AP_RPM_ENABLED
     MSG_RPM,
 #endif
+#if HAL_WITH_ESC_TELEM
     MSG_ESC_TELEMETRY,
+#endif
+#if HAL_GENERATOR_ENABLED
     MSG_GENERATOR_STATUS,
+#endif
     MSG_WINCH_STATUS,
 #if HAL_EFI_ENABLED
     MSG_EFI_STATUS,

ArduCopter/GCS_Mavlink.h

@@ -83,7 +83,9 @@ class GCS_MAVLINK_Copter : public GCS_MAVLINK
 
     void send_pid_tuning() override;
 
+#if AP_WINCH_ENABLED
     void send_winch_status() const override;
+#endif
 
     void send_wind() const;
 

ArduPlane/GCS_Mavlink.cpp

@@ -618,7 +618,9 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
 static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_SYS_STATUS,
     MSG_POWER_STATUS,
+#if HAL_WITH_MCU_MONITORING
     MSG_MCU_STATUS,
+#endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT,
     MSG_GPS_RAW,
@@ -647,15 +649,19 @@ static const ap_message STREAM_RC_CHANNELS_msgs[] = {
 };
 static const ap_message STREAM_EXTRA1_msgs[] = {
     MSG_ATTITUDE,
+#if AP_SIM_ENABLED
     MSG_SIMSTATE,
+#endif
     MSG_AHRS2,
 #if AP_RPM_ENABLED
     MSG_RPM,
 #endif
     MSG_AOA_SSA,
     MSG_PID_TUNING,
     MSG_LANDING,
+#if HAL_WITH_ESC_TELEM
     MSG_ESC_TELEMETRY,
+#endif
 #if HAL_EFI_ENABLED
     MSG_EFI_STATUS,
 #endif
@@ -678,8 +684,12 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #if AP_BATTERY_ENABLED
     MSG_BATTERY_STATUS,
 #endif
+#if HAL_MOUNT_ENABLED
     MSG_GIMBAL_DEVICE_ATTITUDE_STATUS,
+#endif
+#if AP_OPTICALFLOW_ENABLED
     MSG_OPTICAL_FLOW,
+#endif
 #if COMPASS_CAL_ENABLED
     MSG_MAG_CAL_REPORT,
     MSG_MAG_CAL_PROGRESS,

ArduSub/GCS_Mavlink.cpp

@@ -346,7 +346,9 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
 static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_SYS_STATUS,
     MSG_POWER_STATUS,
+#if HAL_WITH_MCU_MONITORING
     MSG_MCU_STATUS,
+#endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT,
     MSG_GPS_RAW,
@@ -372,7 +374,9 @@ static const ap_message STREAM_RC_CHANNELS_msgs[] = {
 };
 static const ap_message STREAM_EXTRA1_msgs[] = {
     MSG_ATTITUDE,
+#if AP_SIM_ENABLED
     MSG_SIMSTATE,
+#endif
     MSG_AHRS2,
     MSG_PID_TUNING
 };
@@ -390,8 +394,12 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #if AP_BATTERY_ENABLED
     MSG_BATTERY_STATUS,
 #endif
+#if HAL_MOUNT_ENABLED
     MSG_GIMBAL_DEVICE_ATTITUDE_STATUS,
+#endif
+#if AP_OPTICALFLOW_ENABLED
     MSG_OPTICAL_FLOW,
+#endif
 #if COMPASS_CAL_ENABLED
     MSG_MAG_CAL_REPORT,
     MSG_MAG_CAL_PROGRESS,
@@ -401,7 +409,9 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #if AP_RPM_ENABLED
     MSG_RPM,
 #endif
+#if HAL_WITH_ESC_TELEM
     MSG_ESC_TELEMETRY,
+#endif
 };
 static const ap_message STREAM_PARAMS_msgs[] = {
     MSG_NEXT_PARAM

Blimp/GCS_Mavlink.cpp

@@ -2,6 +2,7 @@
 
 #include "GCS_Mavlink.h"
 #include <AP_RPM/AP_RPM_config.h>
+#include <AP_OpticalFlow/AP_OpticalFlow_config.h>
 
 MAV_TYPE GCS_Blimp::frame_type() const
 {
@@ -315,7 +316,9 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
 static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_SYS_STATUS,
     MSG_POWER_STATUS,
+#if HAL_WITH_MCU_MONITORING
     MSG_MCU_STATUS,
+#endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
     MSG_GPS_RAW,
@@ -341,7 +344,9 @@ static const ap_message STREAM_RC_CHANNELS_msgs[] = {
 };
 static const ap_message STREAM_EXTRA1_msgs[] = {
     MSG_ATTITUDE,
+#if AP_SIM_ENABLED
     MSG_SIMSTATE,
+#endif
     MSG_AHRS2,
     MSG_PID_TUNING // Up to four PID_TUNING messages are sent, depending on GCS_PID_MASK parameter
 };
@@ -357,8 +362,12 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #if AP_BATTERY_ENABLED
     MSG_BATTERY_STATUS,
 #endif
+#if HAL_MOUNT_ENABLED
     MSG_GIMBAL_DEVICE_ATTITUDE_STATUS,
+#endif
+#if AP_OPTICALFLOW_ENABLED
     MSG_OPTICAL_FLOW,
+#endif
 #if COMPASS_CAL_ENABLED
     MSG_MAG_CAL_REPORT,
     MSG_MAG_CAL_PROGRESS,
@@ -368,8 +377,12 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #if AP_RPM_ENABLED
     MSG_RPM,
 #endif
+#if HAL_WITH_ESC_TELEM
     MSG_ESC_TELEMETRY,
+#endif
+#if HAL_GENERATOR_ENABLED
     MSG_GENERATOR_STATUS,
+#endif
 };
 static const ap_message STREAM_PARAMS_msgs[] = {
     MSG_NEXT_PARAM

Rover/GCS_Mavlink.cpp

@@ -525,7 +525,9 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
 static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_SYS_STATUS,
     MSG_POWER_STATUS,
+#if HAL_WITH_MCU_MONITORING
     MSG_MCU_STATUS,
+#endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT,
     MSG_GPS_RAW,
@@ -554,7 +556,9 @@ static const ap_message STREAM_RC_CHANNELS_msgs[] = {
 };
 static const ap_message STREAM_EXTRA1_msgs[] = {
     MSG_ATTITUDE,
+#if AP_SIM_ENABLED
     MSG_SIMSTATE,
+#endif
     MSG_AHRS2,
     MSG_PID_TUNING,
 };
@@ -570,8 +574,12 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #if AP_BATTERY_ENABLED
     MSG_BATTERY_STATUS,
 #endif
+#if HAL_MOUNT_ENABLED
     MSG_GIMBAL_DEVICE_ATTITUDE_STATUS,
+#endif
+#if AP_OPTICALFLOW_ENABLED
     MSG_OPTICAL_FLOW,
+#endif
 #if COMPASS_CAL_ENABLED
     MSG_MAG_CAL_REPORT,
     MSG_MAG_CAL_PROGRESS,
@@ -582,7 +590,9 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_RPM,
 #endif
     MSG_WHEEL_DISTANCE,
+#if HAL_WITH_ESC_TELEM
     MSG_ESC_TELEMETRY,
+#endif
 #if HAL_EFI_ENABLED
     MSG_EFI_STATUS,
 #endif

Rover/Log.cpp

@@ -78,8 +78,10 @@ void Rover::Log_Write_Depth()
                             (double)(s->distance()),
                             temp_C);
     }
+#if AP_RANGEFINDER_ENABLED
     // send water depth and temp to ground station
     gcs().send_message(MSG_WATER_DEPTH);
+#endif
 }
 
 // guided mode logging

libraries/GCS_MAVLink/GCS.h

@@ -24,6 +24,7 @@
 #include <AP_Mount/AP_Mount_config.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_RangeFinder/AP_RangeFinder_config.h>
+#include <AP_Winch/AP_Winch_config.h>
 
 #include "ap_message.h"
 
@@ -385,7 +386,9 @@ class GCS_MAVLINK
     void send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc);
     void send_rpm() const;
     void send_generator_status() const;
+#if AP_WINCH_ENABLED
     virtual void send_winch_status() const {};
+#endif
     void send_water_depth() const;
     int8_t battery_remaining_pct(const uint8_t instance) const;
 
@@ -811,7 +814,9 @@ class GCS_MAVLINK
     } deferred_message[3] = {
         { MSG_HEARTBEAT, },
         { MSG_NEXT_PARAM, },
+#if HAL_HIGH_LATENCY2_ENABLED
         { MSG_HIGH_LATENCY2, },
+#endif
     };
     // returns index of id in deferred_message[] or -1 if not present
     int8_t get_deferred_message_index(const ap_message id) const;