From b7541e06a9ef53641692c45df8d346d93b40f639 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 8 May 2024 09:49:32 +1000
Subject: [PATCH] Sub: correct boot on boards with features missing

parameters don't exist for defaulting, so config error loop is entered.  The config error loop also isn't working well this early in the boot, so the board is not perfectly informative.

Config Error: param deflt fail:BARO_PROBE_EXT
no link
Config Error: param deflt fail:BARO_PROBE_EXT
no link
no link
Config Error: param deflt fail:BARO_PROBE_EXT
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---
 ArduSub/Parameters.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index 5795c5016843d7..6854c9332852fd 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -382,9 +382,11 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
     { "RC3_TRIM",            1100},
     { "COMPASS_OFFS_MAX",    1000},
     { "INS_GYR_CAL",         0},
+#if HAL_MOUNT_ENABLED
     { "MNT1_TYPE",           1},
     { "MNT1_DEFLT_MODE",     MAV_MOUNT_MODE_RC_TARGETING},
     { "MNT1_RC_RATE",        30},
+#endif
     { "RC7_OPTION",          214},   // MOUNT1_YAW
     { "RC8_OPTION",          213},   // MOUNT1_PITCH
     { "MOT_PWM_MIN",         1100},
@@ -395,7 +397,9 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
     { "PSC_VELXY_P",         6.0f},
     { "EK3_SRC1_VELZ",       0},
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
+#if AP_BARO_PROBE_EXT_PARAMETER_ENABLED
     { "BARO_PROBE_EXT",      0},
+#endif
     { "BATT_MONITOR",        4},
     { "BATT_CAPACITY",       0},
     { "LEAK1_PIN",           27},
@@ -405,7 +409,9 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
     { "SERVO16_FUNCTION",    7},     // k_mount_tilt
     { "SERVO16_REVERSED",    1},
 #else
+#if AP_BARO_PROBE_EXT_PARAMETER_ENABLED
     { "BARO_PROBE_EXT",      768},
+#endif
     { "SERVO9_FUNCTION",     59},    // k_rcin9, lights 1
     { "SERVO10_FUNCTION",    7},     // k_mount_tilt
 #endif