ArduPilot · peterbarker · Oct 17, 2023 · Oct 15, 2023 · Oct 17, 2023 · Oct 17, 2023
diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp
@@ -100,8 +100,10 @@ const struct AP_Param::GroupInfo        GCS_MAVLINK_Parameters::var_info[] = {
 };
 GCS_Dummy _gcs;
 
+#if AP_ADVANCEDFAILSAFE_ENABLED
 AP_AdvancedFailsafe *AP::advancedfailsafe() { return nullptr; }
 bool AP_AdvancedFailsafe::gcs_terminate(bool should_terminate, const char *reason) { return false; }
+#endif
 
 // dummy method to avoid linking AP_Avoidance
 // AP_Avoidance *AP::ap_avoidance() { return nullptr; }

diff --git a/libraries/AP_Beacon/examples/AP_Marvelmind_test/AP_Marvelmind_test.cpp b/libraries/AP_Beacon/examples/AP_Marvelmind_test/AP_Marvelmind_test.cpp
@@ -16,7 +16,9 @@ void set_object_value_and_report(const void *object_pointer,
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 static AP_SerialManager serial_manager;
+#if AP_BEACON_ENABLED
 AP_Beacon beacon;
+#endif
 
 // try to set the object value but provide diagnostic if it failed
 void set_object_value_and_report(const void *object_pointer,
@@ -31,14 +33,19 @@ void set_object_value_and_report(const void *object_pointer,
 
 void setup(void)
 {
+#if AP_BEACON_ENABLED
     set_object_value_and_report(&beacon, beacon.var_info, "_TYPE", 2.0f);
     set_object_value_and_report(&serial_manager, serial_manager.var_info, "0_PROTOCOL", 13.0f);
+#endif
     serial_manager.init();
+#if AP_BEACON_ENABLED
     beacon.init();
+#endif
 }
 
 void loop(void)
 {
+#if AP_BEACON_ENABLED
     static int count = 0;
     beacon.update();
     Vector3f pos;
@@ -51,6 +58,10 @@ void loop(void)
     hal.scheduler->delay(1000);
     if (count == 3)
         exit(0);
+#else
+    printf("Beacon not available\n");
+    hal.scheduler->delay(1000);
+#endif
 }
 
 AP_HAL_MAIN();
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AtomRCF405NAVI/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/AtomRCF405NAVI/hwdef.dat
@@ -114,11 +114,11 @@ PA12 OTG_FS_DP OTG1
 PC8  TIM3_CH3 TIM3 PWM(1) GPIO(50)
 PC9  TIM3_CH4 TIM3 PWM(2) GPIO(51)
 PA8  TIM1_CH1 TIM1 PWM(3) GPIO(52)
-PB1  TIM1_CH3N TIM1 PWM(4) GPIO(53)
+PB1  TIM8_CH3N TIM8 PWM(4) GPIO(53)
 PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54)
 PB10 TIM2_CH3 TIM2 PWM(6) GPIO(55)
 PB11 TIM2_CH4 TIM2 PWM(7) GPIO(56)
-PB0  TIM1_CH2N TIM1 PWM(8) GPIO(57)
+PB0  TIM8_CH2N TIM8 PWM(8) GPIO(57)
 PB7  TIM4_CH2 TIM4 PWM(9) GPIO(58) # LED strip
 
 define HAL_STORAGE_SIZE 15360
@@ -157,9 +157,10 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
 define AP_PARAM_MAX_EMBEDDED_PARAM 256
 
 # save some flash
-include ../include/minimal_GPS.inc
+include ../include/minimize_fpv_osd.inc
 include ../include/save_some_flash.inc
-define AP_BATTERY_SMBUS_ENABLED 0
+
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0
-define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0
+
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405Pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405Pro/hwdef.dat
@@ -151,3 +151,6 @@ define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
 # Motor order implies Betaflight/X for standard ESCs
 define HAL_FRAME_TYPE_DEFAULT 12
+
+include ../include/minimize_fpv_osd.inc
+AUTOBUILD_TARGETS Copter
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat
@@ -152,9 +152,6 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
 
 define STM32_PWM_USE_ADVANCED TRUE
 
-# disable SMBUS battery monitors to save flash
-define AP_BATTERY_SMBUS_ENABLED 0
-
 # disable parachute and sprayer to save flash
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0
@@ -166,3 +163,4 @@ define HAL_MOUNT_ENABLED 0
 
 # save some flash
 include ../include/save_some_flash.inc
+include ../include/minimize_fpv_osd.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat
@@ -176,9 +176,10 @@ define HAL_GYROFFT_ENABLED 0
 
 # --------------------- save flash ----------------------
 # save some flash
+include ../include/minimize_fpv_osd.inc
 include ../include/save_some_flash.inc
 include ../include/no_bootloader_DFU.inc
-define AP_BATTERY_SMBUS_ENABLED 0
+
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0
 define AP_GRIPPER_ENABLED 0
@@ -188,4 +189,4 @@ define HAL_NMEA_OUTPUT_ENABLED 0
 define HAL_BUTTON_ENABLED 0
 define AP_NOTIFY_OREOLED_ENABLED 0
 define HAL_PICCOLO_CAN_ENABLE 0
-define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
@@ -182,22 +182,13 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
 
 define STM32_PWM_USE_ADVANCED TRUE
 
-# disable SMBUS battery monitors to save flash
-define AP_BATTERY_SMBUS_ENABLED 0
-
-# disable parachute and sprayer to save flash
-define HAL_PARACHUTE_ENABLED 0
-define HAL_SPRAYER_ENABLED 0
-
 # reduce max size of embedded params for apj_tool.py
 define AP_PARAM_MAX_EMBEDDED_PARAM 1024
 define HAL_GYROFFT_ENABLED 0
 
 # save some flash
 include ../include/save_some_flash.inc
 define AP_GRIPPER_ENABLED 0
-define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0
-define AP_BATTERY_SMBUS_ENABLED 0
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0
 define HAL_RUNCAM_ENABLED 0
@@ -207,6 +198,5 @@ define HAL_BUTTON_ENABLED 0
 define AP_NOTIFY_OREOLED_ENABLED 0
 define HAL_PICCOLO_CAN_ENABLE 0
 
-# only include ublox GPS driver
-include ../include/minimal_GPS.inc
+include ../include/minimize_fpv_osd.inc
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405Mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405Mini/hwdef.dat
@@ -150,3 +150,6 @@ define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
 # Motor order implies Betaflight/X for standard ESCs
 define HAL_FRAME_TYPE_DEFAULT 12
+
+include ../include/minimize_fpv_osd.inc
+AUTOBUILD_TARGETS Copter
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4/hwdef.dat
@@ -16,5 +16,4 @@ APJ_BOARD_ID 1002
 PC8 SBUS_INVERT_RX OUTPUT LOW
 PC9 SBUS_INVERT_TX OUTPUT LOW
 
-# only include ublox GPS driver
-include ../include/minimal_GPS.inc
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
@@ -150,9 +150,6 @@ define STM32_PWM_USE_ADVANCED TRUE
 #font for the osd
 ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
 
-# disable SMBUS monitors to save flash
-define AP_BATTERY_SMBUS_ENABLED 0
-
 # disable parachute and sprayer to save flash
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0
@@ -162,7 +159,5 @@ define AP_PARAM_MAX_EMBEDDED_PARAM 1024
 
 # save some flash
 include ../include/save_some_flash.inc
-define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0
 
-# only include ublox GPS driver
-include ../include/minimal_GPS.inc
+include ../include/minimize_fpv_osd.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-i2c/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-i2c/hwdef.dat
@@ -153,3 +153,5 @@ define HAL_GYROFFT_ENABLED 0
 
 # bootloader embedding / bootloader flashing not available
 define AP_BOOTLOADER_FLASHING_ENABLED 0
+include ../include/minimize_fpv_osd.inc
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat
@@ -129,3 +129,4 @@ define HAL_LOGGING_DATAFLASH_ENABLED 1
 
 define HAL_GYROFFT_ENABLED 0
 
+include ../include/minimize_fpv_osd.inc