Compilation fixes when features disabled / feature extraction fixes

Tools/autotest/test_build_options.py

@@ -289,6 +289,7 @@ def define_is_whitelisted_for_feature_in_code(self, target, define):
             feature_define_whitelist.add('AP_WINCH_PWM_ENABLED')
             feature_define_whitelist.add(r'AP_MOTORS_FRAME_.*_ENABLED')
             feature_define_whitelist.add('AP_COPTER_ADVANCED_FAILSAFE_ENABLED')
+            feature_define_whitelist.add('AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED')
 
         if target.lower() != "plane":
             # only on Plane:
@@ -304,6 +305,9 @@ def define_is_whitelisted_for_feature_in_code(self, target, define):
             feature_define_whitelist.add('AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED')
             feature_define_whitelist.add('HAL_QUADPLANE_ENABLED')
             feature_define_whitelist.add('AP_BATTERY_WATT_MAX_ENABLED')
+            feature_define_whitelist.add('MODE_AUTOLAND_ENABLED')
+            feature_define_whitelist.add('AP_PLANE_GLIDER_PULLUP_ENABLED')
+            feature_define_whitelist.add('AP_QUICKTUNE_ENABLED')
 
         if target.lower() not in ["plane", "copter"]:
             feature_define_whitelist.add('HAL_ADSB_ENABLED')

Tools/scripts/build_options.py

@@ -146,7 +146,7 @@ def config_option(self):
     Feature('Camera', 'Camera_ThermalRange', 'AP_CAMERA_SEND_THERMAL_RANGE_ENABLED', 'Enable GCS camera thermal range', 0, 'Camera,MOUNT'),  # noqa: E501
     Feature('Camera', 'Camera_Info_From_Script', 'AP_CAMERA_INFO_FROM_SCRIPT_ENABLED', 'Enable Camera information messages via Lua script', 0, 'Camera,SCRIPTING'), # noqa
 
-    Feature('Camera', 'RUNCAM', 'AP_CAMERA_RUNCAM_ENABLED', 'Enable RunCam control', 0, None),
+    Feature('Camera', 'RUNCAM', 'AP_CAMERA_RUNCAM_ENABLED', 'Enable RunCam control', 0, 'Camera'),
 
     Feature('Copter', 'MODE_ZIGZAG', 'MODE_ZIGZAG_ENABLED', 'Enable Mode ZigZag', 0, None),
     Feature('Copter', 'MODE_SYSTEMID', 'MODE_SYSTEMID_ENABLED', 'Enable Mode SystemID', 0, 'Logging'),
@@ -345,7 +345,7 @@ def config_option(self):
     Feature('IMU', 'HarmonicNotches', 'AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED', 'Enable InertialSensor harmonic notch filters', 0, None),  # noqa
     Feature('IMU', 'BatchSampler', 'AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED', 'Enable Batch sampler', 0, None),  # noqa
 
-    Feature('Other', 'RateLoopThread', 'AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED', 'Enable Rate Loop Thread', 0, None),  # noqa
+    Feature('Other', 'RateLoopThread', 'AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED', 'Enable Rate Loop Thread', 0, 'HarmonicNotches'),  # noqa
     Feature('Other', 'GyroFFT', 'HAL_GYROFFT_ENABLED', 'Enable In-Flight gyro FFT calculations', 0, None),
     Feature('Other', 'NMEA_OUTPUT', 'HAL_NMEA_OUTPUT_ENABLED', 'Enable NMEA output', 0, None),
     Feature('Other', 'SDCARD_FORMATTING', 'AP_FILESYSTEM_FORMAT_ENABLED', 'Enable Formatting of microSD cards', 0, None),
@@ -432,10 +432,10 @@ def config_option(self):
     Feature('Filesystem', 'APJ_TOOL_PARAMETERS', 'FORCE_APJ_DEFAULT_PARAMETERS', 'Enable apj_tool parameter area', 0, None),
 
     Feature('Networking', 'PPP', 'AP_NETWORKING_BACKEND_PPP', 'Enable PPP networking', 0, None),
-    Feature('Networking', 'CAN MCAST', 'AP_NETWORKING_CAN_MCAST_ENABLED', 'Enable CAN multicast bridge', 0, None),
+    # Feature('Networking', 'CAN MCAST', 'AP_NETWORKING_CAN_MCAST_ENABLED', 'Enable CAN multicast bridge', 0, None),
 
     Feature('CAN', 'DroneCAN', 'HAL_ENABLE_DRONECAN_DRIVERS', 'Enable DroneCAN support', 0, None),
-    Feature('CAN', 'CAN Logging', 'AP_CAN_LOGGING_ENABLED', 'Enable CAN logging support', 0, None),
+    Feature('CAN', 'CAN Logging', 'AP_CAN_LOGGING_ENABLED', 'Enable CAN logging support', 0, 'Logging'),
 ]
 
 BUILD_OPTIONS.sort(key=lambda x: (x.category + x.label))

Tools/scripts/extract_features.py

@@ -130,6 +130,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
 
             ('AP_IBUS_TELEM_ENABLED', 'AP_IBus_Telem::init',),
 
+            ('MODE_AUTOLAND_ENABLED', 'ModeAutoLand::update'),
             ('MODE_{type}_ENABLED', r'Mode(?P<type>.+)::init',),
             ('MODE_GUIDED_NOGPS_ENABLED', r'ModeGuidedNoGPS::init',),
 

libraries/AP_CANManager/AP_CANManager.cpp

@@ -43,14 +43,6 @@
 #include <AP_Common/sorting.h>
 #include <AP_Logger/AP_Logger.h>
 
-/*
-  avoid a recursion issue with config defines
- */
-#if AP_CAN_LOGGING_ENABLED && !HAL_LOGGING_ENABLED
-#undef AP_CAN_LOGGING_ENABLED
-#define AP_CAN_LOGGING_ENABLED 0
-#endif
-
 #define LOG_TAG "CANMGR"
 #define LOG_BUFFER_SIZE 1024
 

libraries/AP_CANManager/AP_CANManager_config.h

@@ -1,12 +1,12 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL_Boards.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 #ifndef AP_CAN_SLCAN_ENABLED
 #define AP_CAN_SLCAN_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS
 #endif
 
 #ifndef AP_CAN_LOGGING_ENABLED
-#define AP_CAN_LOGGING_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS
+#define AP_CAN_LOGGING_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_LOGGING_ENABLED
 #endif
-

libraries/AP_Networking/AP_Networking_CAN.cpp

@@ -228,4 +228,4 @@ void AP_Networking_CAN::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &
     mcast_sockets[bus]->send((void*)&pkt, data_length+MCAST_HDR_LENGTH);
 }
 
-#endif // AP_NETWORKING_ENABLED && AP_NETWORKING_CAN_MCAST_ENABLED
+#endif // AP_NETWORKING_ENABLED