AP_DDS: Make GPS DDS features depend on GPS

Signed-off-by: Ryan Friedman <[email protected]>
ArduPilot · Oct 7, 2024 · 72d29f2 · 72d29f2
1 parent 47d391f
commit 72d29f2
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -2,8 +2,11 @@
 
 #if AP_DDS_ENABLED
 #include <uxr/client/util/ping.h>
+#include <AP_GPS/AP_GPS_config.h>
 
+#if AP_DDS_NEEDS_GPS
 #include <AP_GPS/AP_GPS.h>
+#endif // AP_DDS_NEEDS_GPS
 #include <AP_HAL/AP_HAL.h>
 #include <RC_Channel/RC_Channel.h>
 #include <AP_RTC/AP_RTC.h>

diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h
@@ -31,11 +31,11 @@
 #endif
 
 #ifndef AP_DDS_NAVSATFIX_PUB_ENABLED
-#define AP_DDS_NAVSATFIX_PUB_ENABLED 1
+#define AP_DDS_NAVSATFIX_PUB_ENABLED AP_GPS_ENABLED
 #endif
 
 #ifndef AP_DDS_STATIC_TF_PUB_ENABLED
-#define AP_DDS_STATIC_TF_PUB_ENABLED 1
+#define AP_DDS_STATIC_TF_PUB_ENABLED AP_GPS_ENABLED
 #endif
 
 #ifndef AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
@@ -84,6 +84,10 @@
 // Whether to include Transform support
 #define AP_DDS_NEEDS_TRANSFORMS AP_DDS_DYNAMIC_TF_SUB || AP_DDS_STATIC_TF_PUB_ENABLED
 
+// Whether DDS needs GPS
+#define AP_DDS_NEEDS_GPS AP_DDS_NAVSATFIX_PUB_ENABLED || AP_DDS_STATIC_TF_PUB_ENABLED
+#if AP_DDS_NEEDS_GPS
+
 #ifndef AP_DDS_DEFAULT_UDP_IP_ADDR
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #define AP_DDS_DEFAULT_UDP_IP_ADDR "192.168.13.2"