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Stop compiling old rally/fencepoint protocols in by default #28622

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Stop compiling old rally/fencepoint protocols in by default #28622

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2d993da
AC_Fence: stop compiling old fencepoint protocol in by default
peterbarker Nov 14, 2024
bd65a13
GCS_MAVLink: stop compiling old rallypoint protocol in by default
peterbarker Nov 14, 2024
1cc884c
Tools: waf: build rally and fencepoint protocols in on SITL
peterbarker Nov 15, 2024
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6 changes: 6 additions & 0 deletions Tools/ardupilotwaf/boards.py
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Original file line number Diff line number Diff line change
Expand Up @@ -696,6 +696,12 @@ def configure_env(self, cfg, env):
cfg.define('AP_NOTIFY_LP5562_BUS', 2)
cfg.define('AP_NOTIFY_LP5562_ADDR', 0x30)

# turn on fencepoint and rallypoint protocols so they're still tested:
env.CXXFLAGS.extend([
'-DAP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED=HAL_GCS_ENABLED&&HAL_RALLY_ENABLED',
'-DAC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT=HAL_GCS_ENABLED&&AP_FENCE_ENABLED'
])

try:
env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=0')
except ValueError:
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2 changes: 1 addition & 1 deletion libraries/AC_Fence/AC_Fence_config.h
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Expand Up @@ -17,5 +17,5 @@
// ArduPilot 4.7 stops compiling them in
// ArduPilot 4.8 removes the code entirely
#ifndef AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT
#define AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT HAL_GCS_ENABLED && AP_FENCE_ENABLED
#define AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT 0
#endif
2 changes: 1 addition & 1 deletion libraries/GCS_MAVLink/GCS_config.h
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Expand Up @@ -68,7 +68,7 @@
// ArduPilot 4.7 stops compiling them in by default
// ArduPilot 4.8 removes the code entirely
#ifndef AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
#define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED HAL_GCS_ENABLED && HAL_RALLY_ENABLED
#define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED 0
#endif

// CODE_REMOVAL
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