AP_DDS: Make GPS DDS features depend on GPS

* Only allow DDS to share GPS data if you have GPS supported * Fix missing visualodom include Signed-off-by: Ryan Friedman <[email protected]>
ArduPilot · Nov 19, 2024 · f2c0478 · f2c0478
1 parent 79b596d
commit f2c0478
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -3,8 +3,11 @@
 #include "AP_DDS_config.h"
 #if AP_DDS_ENABLED
 #include <uxr/client/util/ping.h>
+#include <AP_GPS/AP_GPS_config.h>
 
+#if AP_DDS_NEEDS_GPS
 #include <AP_GPS/AP_GPS.h>
+#endif // AP_DDS_NEEDS_GPS
 #include <AP_HAL/AP_HAL.h>
 #include <RC_Channel/RC_Channel.h>
 #include <AP_RTC/AP_RTC.h>

diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h
@@ -1,7 +1,9 @@
 #pragma once
 
+#include <AP_GPS/AP_GPS_config.h>
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_Networking/AP_Networking_Config.h>
+#include <AP_VisualOdom/AP_VisualOdom_config.h>
 
 #ifndef AP_DDS_ENABLED
 #define AP_DDS_ENABLED 1
@@ -39,11 +41,11 @@
 #endif
 
 #ifndef AP_DDS_NAVSATFIX_PUB_ENABLED
-#define AP_DDS_NAVSATFIX_PUB_ENABLED 1
+#define AP_DDS_NAVSATFIX_PUB_ENABLED AP_GPS_ENABLED
 #endif
 
 #ifndef AP_DDS_STATIC_TF_PUB_ENABLED
-#define AP_DDS_STATIC_TF_PUB_ENABLED 1
+#define AP_DDS_STATIC_TF_PUB_ENABLED AP_GPS_ENABLED
 #endif
 
 #ifndef AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
@@ -144,6 +146,9 @@
 // Whether to include Transform support
 #define AP_DDS_NEEDS_TRANSFORMS AP_DDS_DYNAMIC_TF_SUB_ENABLED || AP_DDS_STATIC_TF_PUB_ENABLED
 
+// Whether DDS needs GPS
+#define AP_DDS_NEEDS_GPS AP_DDS_NAVSATFIX_PUB_ENABLED || AP_DDS_STATIC_TF_PUB_ENABLED
+
 #ifndef AP_DDS_DEFAULT_UDP_IP_ADDR
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #define AP_DDS_DEFAULT_UDP_IP_ADDR "192.168.13.2"