Add build options for deprecated messages MOUNT_CONTROL/MOUNT_CONFIGURE

Tools/scripts/build_options.py

@@ -298,6 +298,8 @@ def __init__(self,
     Feature('MAVLink', 'AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED', 'AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED', 'Enable old AUTOPILOT_VERSION_REQUEST mesage', 0, None),  # noqa
     Feature('MAVLink', 'AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'Enable old REQUEST_AUTOPILOT_CAPABILITIES command', 0, None),  # noqa
     Feature('MAVLink', 'AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'Enable sending of RELAY_STATUS message', 0, 'RELAY'),  # noqa
+    Feature('MAVLink', 'AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED', 'AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED', 'Enable handling of deprecated MOUNT_CONTROL message', 0, None),  # noqa
+    Feature('MAVLink', 'AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED', 'AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED', 'Enable handling of deprecated MOUNT_CONFIGURE message', 0, None),  # noqa
     Feature('MAVLink', 'AP_MAVLINK_BATTERY2_ENABLED', 'AP_MAVLINK_BATTERY2_ENABLED', 'Enable sending of old BATTERY2 message', 0, None),  # noqa
 
     Feature('Developer', 'KILL_IMU', 'AP_INERTIALSENSOR_KILL_IMU_ENABLED', 'Allow IMUs to be disabled at runtime', 0, None),

Tools/scripts/extract_features.py

@@ -210,6 +210,8 @@ def __init__(self, filename, nm="arm-none-eabi-nm"):
             ('AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'GCS_MAVLINK::handle_command_request_autopilot_capabilities'),  # noqa
             ('AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'GCS_MAVLINK::send_relay_status'),
             ('AP_MAVLINK_BATTERY2_ENABLED', 'GCS_MAVLINK::send_battery2'),
+            ('AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED', 'AP_Mount::handle_mount_control'),
+            ('AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED', 'AP_Mount::handle_mount_configure'),
         ]
 
     def progress(self, msg):

libraries/AP_Mount/AP_Mount.cpp

@@ -532,6 +532,7 @@ void AP_Mount::handle_global_position_int(const mavlink_message_t &msg)
     }
 }
 
+#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
 /// Change the configuration of the mount
 void AP_Mount::handle_mount_configure(const mavlink_message_t &msg)
 {
@@ -546,7 +547,9 @@ void AP_Mount::handle_mount_configure(const mavlink_message_t &msg)
     // send message to backend
     backend->handle_mount_configure(packet);
 }
+#endif
 
+#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
 /// Control the mount (depends on the previously set mount configuration)
 void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
 {
@@ -561,6 +564,7 @@ void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
     // send message to backend
     backend->handle_mount_control(packet);
 }
+#endif
 
 // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
 void AP_Mount::send_gimbal_device_attitude_status(mavlink_channel_t chan)
@@ -863,12 +867,16 @@ void AP_Mount::handle_message(mavlink_channel_t chan, const mavlink_message_t &m
     case MAVLINK_MSG_ID_GIMBAL_REPORT:
         handle_gimbal_report(chan, msg);
         break;
+#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
     case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
         handle_mount_configure(msg);
         break;
+#endif
+#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
     case MAVLINK_MSG_ID_MOUNT_CONTROL:
         handle_mount_control(msg);
         break;
+#endif
     case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
         handle_global_position_int(msg);
         break;

libraries/AP_Mount/AP_Mount.h

@@ -23,6 +23,7 @@
 
 #if HAL_MOUNT_ENABLED
 
+#include <GCS_MAVLink/GCS_config.h>
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
@@ -275,8 +276,12 @@ class AP_Mount
     AP_Mount_Backend *get_instance(uint8_t instance) const;
 
     void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg);
+#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
     void handle_mount_configure(const mavlink_message_t &msg);
+#endif
+#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
     void handle_mount_control(const mavlink_message_t &msg);
+#endif
 
     MAV_RESULT handle_command_do_mount_configure(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_do_mount_control(const mavlink_command_int_t &packet);

libraries/AP_Mount/AP_Mount_Backend.cpp

@@ -108,11 +108,13 @@ void AP_Mount_Backend::set_target_sysid(uint8_t sysid)
     set_mode(MAV_MOUNT_MODE_SYSID_TARGET);
 }
 
+#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
 // process MOUNT_CONFIGURE messages received from GCS. deprecated.
 void AP_Mount_Backend::handle_mount_configure(const mavlink_mount_configure_t &packet)
 {
     set_mode((MAV_MOUNT_MODE)packet.mount_mode);
 }
+#endif
 
 // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
 void AP_Mount_Backend::send_gimbal_device_attitude_status(mavlink_channel_t chan)
@@ -212,6 +214,7 @@ void AP_Mount_Backend::send_gimbal_manager_status(mavlink_channel_t chan)
                                            0);                          // secondary control component id
 }
 
+#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
 // process MOUNT_CONTROL messages received from GCS. deprecated.
 void AP_Mount_Backend::handle_mount_control(const mavlink_mount_control_t &packet)
 {
@@ -247,6 +250,7 @@ void AP_Mount_Backend::handle_mount_control(const mavlink_mount_control_t &packe
         break;
     }
 }
+#endif
 
 // handle do_mount_control command.  Returns MAV_RESULT_ACCEPTED on success
 MAV_RESULT AP_Mount_Backend::handle_command_do_mount_control(const mavlink_command_int_t &packet)

libraries/AP_Mount/AP_Mount_Backend.h

@@ -99,12 +99,16 @@ class AP_Mount_Backend
     // handle do_gimbal_manager_configure.  Returns MAV_RESULT_ACCEPTED on success
     // requires original message in order to extract caller's sysid and compid
     MAV_RESULT handle_command_do_gimbal_manager_configure(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
-
+
+#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
     // process MOUNT_CONFIGURE messages received from GCS. deprecated.
     void handle_mount_configure(const mavlink_mount_configure_t &msg);
+#endif
 
+#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
     // process MOUNT_CONTROL messages received from GCS. deprecated.
     void handle_mount_control(const mavlink_mount_control_t &packet);
+#endif
 
     // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
     void send_gimbal_device_attitude_status(mavlink_channel_t chan);

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -3948,14 +3948,18 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
 #endif
 
 #if HAL_MOUNT_ENABLED
+#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
     case MAVLINK_MSG_ID_MOUNT_CONFIGURE: // deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
         send_received_message_deprecation_warning("MOUNT_CONFIGURE");
         handle_mount_message(msg);
         break;
+#endif
+#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
     case MAVLINK_MSG_ID_MOUNT_CONTROL: // deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
         send_received_message_deprecation_warning("MOUNT_CONTROL");
         handle_mount_message(msg);
         break;
+#endif
     case MAVLINK_MSG_ID_GIMBAL_REPORT:
     case MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION:
     case MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS:

libraries/GCS_MAVLink/GCS_config.h

@@ -53,3 +53,11 @@
 #ifndef AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
 #define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED HAL_GCS_ENABLED && HAL_RALLY_ENABLED
 #endif
+
+#ifndef AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
+#define AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED HAL_GCS_ENABLED
+#endif
+
+#ifndef AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
+#define AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED HAL_GCS_ENABLED
+#endif