Correct compilation with COMPASS_CAL_ENABLED off

Tools/scripts/build_options.py

@@ -290,6 +290,7 @@ def __init__(self,
     Feature('Other', 'SCRIPTING', 'AP_SCRIPTING_ENABLED', 'Enable LUA Scripting', 0, None),
     Feature('Other', 'SLCAN', 'AP_CAN_SLCAN_ENABLED', 'Enable SLCAN serial protocol', 0, None),
     Feature('Other', 'SDCARD_MISSION', 'AP_SDCARD_STORAGE_ENABLED', 'Enable storing mission on microSD cards', 0, None),
+    Feature('Other', 'COMPASS_CAL', 'COMPASS_CAL_ENABLED', 'Enable "tumble" compass calibration', 0, None),
 
     # MAVLink section for mavlink features and/or message handling,
     # rather than for e.g. mavlink-based sensor drivers

Tools/scripts/extract_features.py

@@ -218,6 +218,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm"):
 
             ('AP_DRONECAN_HIMARK_SERVO_SUPPORT', 'AP_DroneCAN::SRV_send_himark'),
             ('AP_DRONECAN_HOBBYWING_ESC_SUPPORT', 'AP_DroneCAN::hobbywing_ESC_update'),
+            ('COMPASS_CAL_ENABLED', 'CompassCalibrator::stop'),
         ]
 
     def progress(self, msg):

libraries/AP_Compass/AP_Compass.h

@@ -35,9 +35,6 @@
 #endif
 #endif
 
-#ifndef COMPASS_CAL_ENABLED
-#define COMPASS_CAL_ENABLED 1
-#endif
 #ifndef COMPASS_MOT_ENABLED
 #define COMPASS_MOT_ENABLED 1
 #endif

libraries/AP_Compass/AP_Compass_Calibration.cpp

@@ -451,6 +451,8 @@ MAV_RESULT Compass::handle_mag_cal_command(const mavlink_command_int_t &packet)
     return result;
 }
 
+#endif // COMPASS_CAL_ENABLED
+
 /*
   get mag field with the effects of offsets, diagonals and
   off-diagonals removed
@@ -571,6 +573,3 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
 
     return MAV_RESULT_ACCEPTED;
 }
-
-
-#endif // COMPASS_CAL_ENABLED

libraries/AP_Compass/AP_Compass_config.h

@@ -12,6 +12,13 @@
 #define AP_COMPASS_DIAGONALS_ENABLED 1
 #endif
 
+#ifndef COMPASS_CAL_ENABLED
+#define COMPASS_CAL_ENABLED AP_COMPASS_ENABLED
+#endif
+
+#define COMPASS_MAX_SCALE_FACTOR 1.5
+#define COMPASS_MIN_SCALE_FACTOR (1.0/COMPASS_MAX_SCALE_FACTOR)
+
 // Backend support
 #ifndef AP_COMPASS_BACKEND_DEFAULT_ENABLED
 #define AP_COMPASS_BACKEND_DEFAULT_ENABLED AP_COMPASS_ENABLED

libraries/AP_Compass/CompassCalibrator.cpp

@@ -57,6 +57,10 @@
  * http://en.wikipedia.org/wiki/Levenberg%E2%80%93Marquardt_algorithm
  */
 
+#include "AP_Compass_config.h"
+
+#if COMPASS_CAL_ENABLED
+
 #include "AP_Compass.h"
 #include "CompassCalibrator.h"
 #include <AP_HAL/AP_HAL.h>
@@ -1153,3 +1157,5 @@ bool CompassCalibrator::right_angle_rotation(Rotation r) const
             return false;
     }
 }
+
+#endif  // COMPASS_CAL_ENABLED

libraries/AP_Compass/CompassCalibrator.h

@@ -1,14 +1,15 @@
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if COMPASS_CAL_ENABLED
+
 #include <AP_Math/AP_Math.h>
 
 #define COMPASS_CAL_NUM_SPHERE_PARAMS       4
 #define COMPASS_CAL_NUM_ELLIPSOID_PARAMS    9
 #define COMPASS_CAL_NUM_SAMPLES             300     // number of samples required before fitting begins
 
-#define COMPASS_MAX_SCALE_FACTOR 1.5
-#define COMPASS_MIN_SCALE_FACTOR (1.0/COMPASS_MAX_SCALE_FACTOR)
-
 class CompassCalibrator {
 public:
     CompassCalibrator();
@@ -255,3 +256,5 @@ class CompassCalibrator {
     // Semaphore for intermediate structure for point sample collection
     HAL_Semaphore sample_sem;
 };
+
+#endif  // COMPASS_CAL_ENABLED

libraries/RC_Channel/RC_Channel.cpp

@@ -1556,7 +1556,8 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
         }
         break;
     }
-
+
+#if COMPASS_CAL_ENABLED
     case AUX_FUNC::MAG_CAL: {
         Compass &compass = AP::compass();
         switch (ch_flag) {
@@ -1580,6 +1581,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
         }
         break;
     }
+#endif
 
     case AUX_FUNC::ARM_EMERGENCY_STOP: {
         switch (ch_flag) {