rc channel wasn't completely protected by #define guards

libraries/AP_Common/AP_Common.h

@@ -40,6 +40,9 @@
 #define UNUSED_PRIVATE_MEMBER
 #endif
 
+// for local vars that are unused in some builds
+#define UNUSED_LOCAL(x) ((void)(x))
+
 // this can be used to optimize individual functions
 #define OPTIMIZE(level) __attribute__((optimize(level)))
 

libraries/AP_HAL_ESP32/boards/esp32empty.h

@@ -148,4 +148,5 @@
 
 #define HAL_LOGGING_BACKENDS_DEFAULT 1
 
+#define AP_RC_CHANNEL_ENABLED 0
 #define AP_RCPROTOCOL_ENABLED 0

libraries/AP_RCProtocol/AP_RCProtocol_FPort.cpp

@@ -185,10 +185,12 @@ void AP_RCProtocol_FPort::decode_downlink(const FPort_Frame &frame)
     uint8_t len = 0;
     uint8_t buf2[sizeof(buf)*2+1];
 
+#if AP_RC_CHANNEL_ENABLED
     if (rc().option_is_enabled(RC_Channels::Option::FPORT_PAD)) {
         // this padding helps on some uarts that have hw pullups
         buf2[len++] = 0xff;
     }
+#endif
 
     for (uint8_t i=0; i<sizeof(buf); i++) {
         uint8_t c = buf[i];

libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp

@@ -99,10 +99,11 @@ void AP_CRSF_Telem::setup_custom_telemetry()
     if (_custom_telem.init_done) {
         return;
     }
-
+#if AP_RC_CHANNEL_ENABLED
     if (!rc().option_is_enabled(RC_Channels::Option::CRSF_CUSTOM_TELEMETRY)) {
         return;
     }
+#endif
 
     // check if passthru already assigned
     const int8_t frsky_port = AP::serialmanager().find_portnum(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough,0);
@@ -204,7 +205,11 @@ bool AP_CRSF_Telem::process_rf_mode_changes()
     }
 #endif
     // note if option was set to show LQ in place of RSSI
+#if AP_RC_CHANNEL_ENABLED
     bool current_lq_as_rssi_active = rc().option_is_enabled(RC_Channels::Option::USE_CRSF_LQ_AS_RSSI);
+#else
+    bool current_lq_as_rssi_active = false;
+#endif
     if(_telem_bootstrap_msg_pending || _noted_lq_as_rssi_active != current_lq_as_rssi_active){
         _noted_lq_as_rssi_active = current_lq_as_rssi_active;
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s: RSSI now displays %s", get_protocol_string(), current_lq_as_rssi_active ? " as LQ" : "normally");
@@ -214,10 +219,12 @@ bool AP_CRSF_Telem::process_rf_mode_changes()
     const bool is_high_speed = is_high_speed_telemetry(current_rf_mode);
     if ((now - _telem_last_report_ms > 5000)) {
         // report an RF mode change or a change in telemetry rate if we haven't done so in the last 5s
+#if AP_RC_CHANNEL_ENABLED
         if (!rc().option_is_enabled(RC_Channels::Option::SUPPRESS_CRSF_MESSAGE) && (_telem_rf_mode != current_rf_mode || abs(int16_t(_telem_last_avg_rate) - int16_t(_scheduler.avg_packet_rate)) > 25)) {
             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s: Link rate %dHz, Telemetry rate %dHz",
                 get_protocol_string(), crsf->get_link_rate(_crsf_version.protocol), get_telemetry_rate());
         }
+#endif
         // tune the scheduler based on telemetry speed high/low transitions
         if (_telem_is_high_speed != is_high_speed) {
             update_custom_telemetry_rates(current_rf_mode);
@@ -308,9 +315,11 @@ void AP_CRSF_Telem::queue_message(MAV_SEVERITY severity, const char *text)
 {
     // no need to queue status text messages when crossfire
     // custom telemetry is not enabled
+#if AP_RC_CHANNEL_ENABLED
     if (!rc().option_is_enabled(RC_Channels::Option::CRSF_CUSTOM_TELEMETRY)) {
         return;
     }
+#endif
     AP_RCTelemetry::queue_message(severity, text);
 }
 
@@ -401,9 +410,17 @@ bool AP_CRSF_Telem::is_packet_ready(uint8_t idx, bool queue_empty)
         return false;
 #endif
     case PASSTHROUGH:
+#if AP_RC_CHANNEL_ENABLED
         return rc().option_is_enabled(RC_Channels::Option::CRSF_CUSTOM_TELEMETRY);
+#else
+        return false;
+#endif
     case STATUS_TEXT:
+#if AP_RC_CHANNEL_ENABLED
         return rc().option_is_enabled(RC_Channels::Option::CRSF_CUSTOM_TELEMETRY) && !queue_empty;
+#else
+        return false;
+#endif
     case GENERAL_COMMAND:
         return _baud_rate_request.pending;
     case VERSION_PING:
@@ -957,7 +974,11 @@ void AP_CRSF_Telem::calc_flight_mode()
             sizeof(AP_CRSF_Telem::FlightModeFrame), 
             "%s%s", 
             notify->get_flight_mode_str(), 
+#if AP_RC_CHANNEL_ENABLED
             rc().option_is_enabled(RC_Channels::Option::CRSF_FM_DISARM_STAR) && !hal.util->get_soft_armed() ? "*" : ""
+#else 
+            ""
+#endif
         );
         // Note: strlen(_telem.bcast.flightmode.flight_mode) is safe because called on a guaranteed null terminated string
         _telem_size = strlen(_telem.bcast.flightmode.flight_mode) + 1; //send the terminator as well

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -2002,19 +2002,24 @@ bool GCS_MAVLINK::sending_mavlink1() const
     return ((_channel_status.flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) != 0);
 }
 
-#if AP_RC_CHANNEL_ENABLED
 /*
   send RC_CHANNELS messages
  */
 void GCS_MAVLINK::send_rc_channels() const
 {
     uint16_t values[18] = {};
+#if AP_RC_CHANNEL_ENABLED
     rc().get_radio_in(values, ARRAY_SIZE(values));
+#endif
 
     mavlink_msg_rc_channels_send(
         chan,
         AP_HAL::millis(),
+#if AP_RC_CHANNEL_ENABLED
         RC_Channels::get_valid_channel_count(),
+#else 
+        0,
+#endif
         values[0],
         values[1],
         values[2],
@@ -2050,7 +2055,9 @@ void GCS_MAVLINK::send_rc_channels_raw() const
     }
 
     uint16_t values[8] = {};
+#if AP_RC_CHANNEL_ENABLED
     rc().get_radio_in(values, ARRAY_SIZE(values));
+#endif
 
     mavlink_msg_rc_channels_raw_send(
         chan,
@@ -2071,7 +2078,6 @@ void GCS_MAVLINK::send_rc_channels_raw() const
 #endif
 );
 }
-#endif  // AP_RC_CHANNEL_ENABLED
 
 void GCS_MAVLINK::send_raw_imu()
 {
@@ -2899,22 +2905,22 @@ void GCS_MAVLINK::send_heartbeat() const
         system_status());
 }
 
-#if AP_RC_CHANNEL_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_do_aux_function(const mavlink_command_int_t &packet)
 {
     if (packet.param2 > 2) {
         return MAV_RESULT_DENIED;
     }
+#if AP_RC_CHANNEL_ENABLED
     const RC_Channel::AUX_FUNC aux_func = (RC_Channel::AUX_FUNC)packet.param1;
     const RC_Channel::AuxSwitchPos position = (RC_Channel::AuxSwitchPos)packet.param2;
     if (!rc().run_aux_function(aux_func, position, RC_Channel::AuxFuncTriggerSource::MAVLINK)) {
         // note that this is not quite right; we could be more nuanced
         // about our return code here.
         return MAV_RESULT_FAILED;
     }
+#endif
     return MAV_RESULT_ACCEPTED;
 }
-#endif  // AP_RC_CHANNEL_ENABLED
 
 MAV_RESULT GCS_MAVLINK::handle_command_set_message_interval(const mavlink_command_int_t &packet)
 {
@@ -3363,7 +3369,6 @@ MAV_RESULT GCS_MAVLINK::handle_flight_termination(const mavlink_command_int_t &p
 #endif
 }
 
-#if AP_RC_CHANNEL_ENABLED
 /*
   handle a R/C bind request (for spektrum)
  */
@@ -3372,12 +3377,13 @@ MAV_RESULT GCS_MAVLINK::handle_START_RX_PAIR(const mavlink_command_int_t &packet
     // initiate bind procedure. We accept the DSM type from either
     // param1 or param2 due to a past mixup with what parameter is the
     // right one
+#if AP_RC_CHANNEL_ENABLED
     if (!RC_Channels::receiver_bind(packet.param2>0?packet.param2:packet.param1)) {
         return MAV_RESULT_FAILED;
     }
+#endif
     return MAV_RESULT_ACCEPTED;
 }
-#endif  // AP_RC_CHANNEL_ENABLED
 
 uint64_t GCS_MAVLINK::timesync_receive_timestamp_ns() const
 {
@@ -3777,7 +3783,6 @@ void GCS_MAVLINK::handle_command_ack(const mavlink_message_t &msg)
 #endif
 }
 
-#if AP_RC_CHANNEL_ENABLED
 // allow override of RC channel values for complete GCS
 // control of switch position and RC PWM values.
 void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
@@ -3791,6 +3796,7 @@ void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
     mavlink_rc_channels_override_t packet;
     mavlink_msg_rc_channels_override_decode(&msg, &packet);
 
+#if AP_RC_CHANNEL_ENABLED
     const uint16_t override_data[] = {
         packet.chan1_raw,
         packet.chan2_raw,
@@ -3826,11 +3832,11 @@ void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
             RC_Channels::set_override(i, value, tnow);
         }
     }
-
+#endif // AP_RC_CHANNEL_ENABLED
+
     gcs().sysid_myggcs_seen(tnow);
 
 }
-#endif  // AP_RC_CHANNEL_ENABLED
 
 #if AP_OPTICALFLOW_ENABLED
 void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t &msg)
@@ -4118,11 +4124,9 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
         break;
 #endif
 
-#if AP_RC_CHANNEL_ENABLED
     case MAVLINK_MSG_ID_MANUAL_CONTROL:
         handle_manual_control(msg);
         break;
-#endif
 
 #if AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED
     case MAVLINK_MSG_ID_PLAY_TUNE:
@@ -4185,11 +4189,9 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
         break;
 #endif
 
-#if AP_RC_CHANNEL_ENABLED
     case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
         handle_rc_channels_override(msg);
         break;
-#endif
 
 #if AP_OPTICALFLOW_ENABLED
     case MAVLINK_MSG_ID_OPTICAL_FLOW:
@@ -5192,10 +5194,8 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         return  MAV_RESULT_FAILED;
 #endif
 
-#if AP_RC_CHANNEL_ENABLED
     case MAV_CMD_DO_AUX_FUNCTION:
         return handle_command_do_aux_function(packet);
-#endif
 
 #if AP_FENCE_ENABLED
     case MAV_CMD_DO_FENCE_ENABLE:
@@ -5346,10 +5346,8 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         return handle_command_set_ekf_source_set(packet);
 #endif
 
-#if AP_RC_CHANNEL_ENABLED
     case MAV_CMD_START_RX_PAIR:
         return handle_START_RX_PAIR(packet);
-#endif
 
 #if AP_FILESYSTEM_FORMAT_ENABLED
     case MAV_CMD_STORAGE_FORMAT:
@@ -6093,7 +6091,6 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         break;
 #endif
 
-#if AP_RC_CHANNEL_ENABLED
     case MSG_RC_CHANNELS:
         CHECK_PAYLOAD_SIZE(RC_CHANNELS);
         send_rc_channels();
@@ -6103,7 +6100,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
         send_rc_channels_raw();
         break;
-#endif
+
 
     case MSG_RAW_IMU:
         CHECK_PAYLOAD_SIZE(RAW_IMU);
@@ -6779,12 +6776,12 @@ uint64_t GCS_MAVLINK::capabilities() const
 }
 
 
-#if AP_RC_CHANNEL_ENABLED
 void GCS_MAVLINK::manual_override(RC_Channel *c, int16_t value_in, const uint16_t offset, const float scaler, const uint32_t tnow, const bool reversed)
 {
     if (c == nullptr) {
         return;
     }
+#if AP_RC_CHANNEL_ENABLED
     int16_t override_value = 0;
     if (value_in != INT16_MAX) {
         const int16_t radio_min = c->get_radio_min();
@@ -6795,8 +6792,10 @@ void GCS_MAVLINK::manual_override(RC_Channel *c, int16_t value_in, const uint16_
         override_value = radio_min + (radio_max - radio_min) * (value_in + offset) / scaler;
     }
     c->set_override(override_value, tnow);
+#endif
 }
 
+
 void GCS_MAVLINK::handle_manual_control(const mavlink_message_t &msg)
 {
     if (msg.sysid != sysid_my_gcs()) {
@@ -6818,7 +6817,6 @@ void GCS_MAVLINK::handle_manual_control(const mavlink_message_t &msg)
     // from the ground station for failsafe purposes
     gcs().sysid_myggcs_seen(tnow);
 }
-#endif  // AP_RC_CHANNEL_ENABLED
 
 #if AP_RSSI_ENABLED
 uint8_t GCS_MAVLINK::receiver_rssi() const

libraries/SRV_Channel/SRV_Channel_aux.cpp

@@ -49,6 +49,7 @@ void SRV_Channel::output_ch(void)
         passthrough_mapped = true;
         break;
     }
+    #if AP_RC_CHANNEL_ENABLED
     if (passthrough_from != -1) {
         // we are doing passthrough from input to output for this channel
         RC_Channel *c = rc().channel(passthrough_from);
@@ -94,6 +95,10 @@ void SRV_Channel::output_ch(void)
             }
         }
     }
+    #else 
+        UNUSED_LOCAL(passthrough_from);
+        UNUSED_LOCAL(passthrough_mapped);
+    #endif
 #endif // HAL_BUILD_AP_PERIPH
 
     if (!(SRV_Channels::disabled_mask & (1U<<ch_num))) {