[telemetry] protect telemetry code with #if DOWNLINK

- also get rid of AP_DOWNLINK and FBW_DOWNLINK
- still needs to make it work again (for the only remaining classix in
  the world...)

conf/firmwares/setup.makefile

@@ -84,7 +84,7 @@ setup_actuators.CFLAGS += -DUSE_$(MODEM_PORT)
 setup_actuators.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 setup_actuators.srcs   += mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 
-setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_PORT) -DDOWNLINK_AP_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
+setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
 setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
 setup_actuators.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 ifneq ($(SYS_TIME_LED),none)

conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile

@@ -4,7 +4,7 @@
 ap.CFLAGS += -DUSE_$(MODEM_PORT)
 ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_PORT) -DDOWNLINK_AP_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c

conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile

@@ -4,7 +4,7 @@
 #serial USB (e.g. /dev/ttyACM0)
 
 ifeq ($(ARCH), lpc21)
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=UsbS -DDOWNLINK_AP_DEVICE=UsbS -DPPRZ_UART=UsbS
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DUSE_USB_SERIAL -DUSE_USB_HIGH_PCLK
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c

conf/firmwares/subsystems/fixedwing/telemetry_w5100.makefile

@@ -7,7 +7,7 @@ W5100_SUBNET ?= "255,255,255,0"
 W5100_MULTICAST_IP ?= "224,1,1,11"
 W5100_MULTICAST_PORT ?= "1234"
 
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=W5100 -DDOWNLINK_AP_DEVICE=W5100
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=W5100
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=W5100Transport -DDATALINK=W5100
 ap.CFLAGS += -DW5100_IP=$(W5100_IP) -DW5100_SUBNET=$(W5100_SUBNET) -DW5100_MULTICAST_IP=$(W5100_MULTICAST_IP) -DW5100_MULTICAST_PORT=$(W5100_MULTICAST_PORT)
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/w5100.c

conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile

@@ -5,7 +5,7 @@
 ap.CFLAGS += -DUSE_$(MODEM_PORT)
 ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) -DXBEE_BAUD=$(MODEM_BAUD)
 
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_PORT) -DDOWNLINK_AP_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT)
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT)
 ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE
 ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/xbee.c
 ap.srcs += $(SRC_FIRMWARE)/datalink.c

sw/airborne/boards/ardrone/navdata.c

@@ -36,11 +36,11 @@
 #include <math.h>
 #include "navdata.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 int nav_fd;
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_navdata(void) {
   DOWNLINK_SEND_ARDRONE_NAVDATA(DefaultChannel, DefaultDevice,
       &navdata->taille,
@@ -72,6 +72,7 @@ static void send_navdata(void) {
       &navdata->mz,
       &navdata->chksum);
 }
+#endif
 
 int navdata_init()
 {
@@ -122,7 +123,10 @@ int navdata_init()
 
   previousUltrasoundHeight = 0;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "ARDRONE_NAVDATA", send_navdata);
+#endif
+
   return 0;
 }
 

sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c

@@ -36,12 +36,6 @@
 #include CTRL_TYPE_H
 #include "firmwares/fixedwing/autopilot.h"
 
-#ifndef DOWNLINK_DEVICE
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
-#endif
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 /* outer loop parameters */
 float h_ctl_course_setpoint; /* rad, CW/north */
 float h_ctl_course_pre_bank;
@@ -149,6 +143,9 @@ inline static void h_ctl_pitch_loop( void );
 #define H_CTL_PITCH_KFFD 0.
 #endif
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_calibration(void) {
   DOWNLINK_SEND_CALIBRATION(DefaultChannel, DefaultDevice,  &v_ctl_auto_throttle_sum_err, &v_ctl_auto_throttle_submode);
 }
@@ -162,7 +159,7 @@ static void send_ctl_a(void) {
   DOWNLINK_SEND_H_CTL_A(DefaultChannel, DefaultDevice,
       &h_ctl_roll_sum_err, &h_ctl_ref_roll_angle, &h_ctl_pitch_sum_err, &h_ctl_ref_pitch_angle)
 }
-
+#endif
 
 void h_ctl_init( void ) {
   h_ctl_course_setpoint = 0.;
@@ -211,9 +208,11 @@ void h_ctl_init( void ) {
   v_ctl_pitch_dash_trim = 0.;
 #endif
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "CALIBRATION", send_calibration);
   register_periodic_telemetry(DefaultPeriodic, "TUNE_ROLL", send_tune_roll);
   register_periodic_telemetry(DefaultPeriodic, "H_CTL_A", send_ctl_a);
+#endif
 }
 
 /**

sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c

@@ -35,12 +35,6 @@
 #include CTRL_TYPE_H
 #include "firmwares/fixedwing/autopilot.h"
 
-#ifndef DOWNLINK_DEVICE
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
-#endif
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 /* outer loop parameters */
 float h_ctl_course_setpoint; /* rad, CW/north */
 float h_ctl_course_pre_bank;
@@ -118,9 +112,13 @@ float h_ctl_roll_rate_gain;
 static float nav_ratio;
 #endif
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_calibration(void) {
   DOWNLINK_SEND_CALIBRATION(DefaultChannel, DefaultDevice,  &v_ctl_auto_throttle_sum_err, &v_ctl_auto_throttle_submode);
 }
+#endif
 
 void h_ctl_init( void ) {
   h_ctl_course_setpoint = 0.;
@@ -178,7 +176,9 @@ void h_ctl_init( void ) {
 nav_ratio=0;
 #endif
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "CALIBRATION", send_calibration);
+#endif
 }
 
 /**

sw/airborne/firmwares/rotorcraft/autopilot.c

@@ -35,10 +35,10 @@
 #include "subsystems/actuators.h"
 #include "subsystems/electrical.h"
 #include "subsystems/settings.h"
+#include "subsystems/datalink/telemetry.h"
 #include "firmwares/rotorcraft/navigation.h"
 #include "firmwares/rotorcraft/guidance.h"
 #include "firmwares/rotorcraft/stabilization.h"
-#include "firmwares/rotorcraft/telemetry.h"
 #include "led.h"
 
 uint8_t  autopilot_mode;

sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c

@@ -34,10 +34,6 @@
 
 #include "generated/airframe.h"
 
-#include "mcu_periph/uart.h"
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 /* error if some gains are negative */
 #if (GUIDANCE_H_PGAIN < 0) ||                   \
   (GUIDANCE_H_DGAIN < 0)   ||                   \
@@ -93,6 +89,9 @@ static void guidance_h_hover_enter(void);
 static void guidance_h_nav_enter(void);
 static inline void transition_run(void);
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_gh(void) {
   struct NedCoor_i* pos = stateGetPositionNed_i();
   DOWNLINK_SEND_GUIDANCE_H_INT(DefaultChannel, DefaultDevice,
@@ -127,6 +126,7 @@ static void send_href(void) {
       &guidance_h_pos_sp.y, &guidance_h_pos_ref.y,
       &guidance_h_speed_ref.y, &guidance_h_accel_ref.y);
 }
+#endif
 
 void guidance_h_init(void) {
 
@@ -144,9 +144,11 @@ void guidance_h_init(void) {
   transition_percentage = 0;
   transition_theta_offset = 0;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "GUIDANCE_H_INT", send_gh);
   register_periodic_telemetry(DefaultPeriodic, "HOVER_LOOP", send_hover_loop);
   register_periodic_telemetry(DefaultPeriodic, "GUIDANCE_H_REF", send_href);
+#endif
 }
 
 

sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c

@@ -39,9 +39,6 @@
 
 #include "generated/airframe.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 
 /* warn if some gains are still negative */
 #if (GUIDANCE_V_HOVER_KP < 0) ||                   \
@@ -96,6 +93,9 @@ int32_t guidance_v_z_sum_err;
 
 __attribute__ ((always_inline)) static inline void run_hover_loop(bool_t in_flight);
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_vert_loop(void) {
   DOWNLINK_SEND_VERT_LOOP(DefaultChannel, DefaultDevice,
       &guidance_v_z_sp, &guidance_v_zd_sp,
@@ -112,6 +112,7 @@ static void send_vert_loop(void) {
       &guidance_v_fb_cmd,
       &guidance_v_delta_t);
 }
+#endif
 
 void guidance_v_init(void) {
 
@@ -129,7 +130,9 @@ void guidance_v_init(void) {
 
   gv_adapt_init();
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "VERT_LOOP", send_vert_loop);
+#endif
 }
 
 

sw/airborne/firmwares/rotorcraft/main.c

@@ -33,8 +33,7 @@
 #include "mcu_periph/sys_time.h"
 #include "led.h"
 
-#include "subsystems/datalink/downlink.h"
+#include "subsystems/datalink/telemetry.h"
-#include "firmwares/rotorcraft/telemetry.h"
 #include "subsystems/datalink/datalink.h"
 #include "subsystems/settings.h"
 #include "subsystems/datalink/xbee.h"

sw/airborne/firmwares/rotorcraft/navigation.c

@@ -44,9 +44,6 @@
 
 #include "math/pprz_algebra_int.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 const uint8_t nb_waypoint = NB_WAYPOINT;
 struct EnuCoor_i waypoints[NB_WAYPOINT];
 
@@ -86,6 +83,9 @@ static inline void nav_set_altitude( void );
 #define ARRIVED_AT_WAYPOINT (3 << 8)
 #define CARROT_DIST (12 << 8)
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_nav_status(void) {
   DOWNLINK_SEND_ROTORCRAFT_NAV_STATUS(DefaultChannel, DefaultDevice,
       &block_time, &stage_time,
@@ -115,6 +115,7 @@ static void send_wp_moved(void) {
       &(waypoints[i].y),
       &(waypoints[i].z));
 }
+#endif
 
 void nav_init(void) {
   // convert to
@@ -148,8 +149,10 @@ void nav_init(void) {
   nav_leg_progress = 0;
   nav_leg_length = 1;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "ROTORCRAFT_NAV_STATUS", send_nav_status);
   register_periodic_telemetry(DefaultPeriodic, "WP_MOVED", send_wp_moved);
+#endif
 }
 
 static inline void nav_advance_carrot(void) {

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c

@@ -35,6 +35,9 @@ struct FloatEulers stabilization_att_sum_err;
 float stabilization_att_fb_cmd[COMMANDS_NB];
 float stabilization_att_ff_cmd[COMMANDS_NB];
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_att(void) {
   struct FloatRates* body_rate = stateGetBodyRates_i();
   struct FloatEulers* att = stateGetNedToBodyEulers_i();
@@ -75,7 +78,7 @@ static void send_att_ref(void) {
       &stab_att_ref_accel.q,
       &stab_att_ref_accel.r);
 }
-
+#endif
 
 void stabilization_attitude_init(void) {
 
@@ -103,8 +106,10 @@ void stabilization_attitude_init(void) {
 
   FLOAT_EULERS_ZERO( stabilization_att_sum_err );
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
+#endif
 }
 
 

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c

@@ -27,9 +27,6 @@
 
 #include "generated/airframe.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 struct Int32AttitudeGains  stabilization_gains;
 
 /* warn if some gains are still negative */
@@ -57,6 +54,9 @@ static inline void reset_psi_ref_from_body(void) {
   stab_att_ref_accel.r = 0;
 }
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_att(void) {
   struct Int32Rates* body_rate = stateGetBodyRates_i();
   struct Int32Eulers* att = stateGetNedToBodyEulers_i();
@@ -95,6 +95,7 @@ static void send_att_ref(void) {
       &stab_att_ref_accel.q,
       &stab_att_ref_accel.r);
 }
+#endif
 
 void stabilization_attitude_init(void) {
 
@@ -124,8 +125,10 @@ void stabilization_attitude_init(void) {
 
   INT_EULERS_ZERO( stabilization_att_sum_err );
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE_REF", send_att_ref);
+#endif
 }
 
 

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c

@@ -32,9 +32,6 @@
 #include "state.h"
 #include "generated/airframe.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 struct Int32AttitudeGains stabilization_gains = {
   {STABILIZATION_ATTITUDE_PHI_PGAIN, STABILIZATION_ATTITUDE_THETA_PGAIN, STABILIZATION_ATTITUDE_PSI_PGAIN },
   {STABILIZATION_ATTITUDE_PHI_DGAIN, STABILIZATION_ATTITUDE_THETA_DGAIN, STABILIZATION_ATTITUDE_PSI_DGAIN },
@@ -67,6 +64,9 @@ int32_t stabilization_att_ff_cmd[COMMANDS_NB];
 #define GAIN_PRESCALER_D 48
 #define GAIN_PRESCALER_I 48
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_att(void) { //FIXME really use this message here ?
   struct Int32Rates* body_rate = stateGetBodyRates_i();
   struct Int32Eulers* att = stateGetNedToBodyEulers_i();
@@ -102,6 +102,7 @@ static void send_att_ref(void) {
       &(quat->qy),
       &(quat->qz));
 }
+#endif
 
 void stabilization_attitude_init(void) {
 
@@ -121,8 +122,10 @@ void stabilization_attitude_enter(void) {
   INT32_QUAT_ZERO(stabilization_att_sum_err_quat);
   INT_EULERS_ZERO(stabilization_att_sum_err);
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "STAB_ATTITUDE", send_att);
   register_periodic_telemetry(DefaultPeriodic, "STAB_AHRS_REF_QUAT", send_att_ref);
+#endif
 }
 
 void stabilization_attitude_set_failsafe_setpoint(void) {

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c

@@ -34,9 +34,6 @@
 #include "subsystems/radio_control.h"
 #include "generated/airframe.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 #define F_UPDATE_RES 9
 #define REF_DOT_FRAC 11
 #define REF_FRAC  16
@@ -122,6 +119,9 @@ struct Int32Rates stabilization_rate_ff_cmd;
   (radio_control.values[RADIO_YAW] >  STABILIZATION_RATE_DEADBAND_R || \
    radio_control.values[RADIO_YAW] < -STABILIZATION_RATE_DEADBAND_R)
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_rate(void) {
   DOWNLINK_SEND_RATE_LOOP(DefaultChannel, DefaultDevice,
       &stabilization_rate_sp.p,
@@ -144,6 +144,7 @@ static void send_rate(void) {
       &stabilization_rate_fb_cmd.r,
       &stabilization_cmd[COMMAND_THRUST]);
 }
+#endif
 
 void stabilization_rate_init(void) {
 
@@ -166,7 +167,9 @@ void stabilization_rate_init(void) {
   INT_RATES_ZERO(stabilization_rate_refdot);
   INT_RATES_ZERO(stabilization_rate_sum_err);
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "RATE_LOOP", send_rate);
+#endif
 }
 
 

sw/airborne/link_mcu_spi.c

@@ -100,20 +100,18 @@ void link_mcu_event_task( void ) {
 #define LINK_MCU_SLAVE_IDX SPI_SLAVE0
 #endif
 
-#ifndef DOWNLINK_DEVICE
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
-#endif
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 uint8_t link_mcu_nb_err;
 uint8_t link_mcu_fbw_nb_err;
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_debug_link(void) {
   uint8_t mcu1_ppm_cpt_foo = 0; //FIXME
   DOWNLINK_SEND_DEBUG_MCU_LINK(DefaultChannel, DefaultDevice,
       &link_mcu_nb_err, &link_mcu_fbw_nb_err, &mcu1_ppm_cpt_foo);
 }
+#endif
 
 void link_mcu_init(void) {
   link_mcu_nb_err = 0;
@@ -128,7 +126,9 @@ void link_mcu_init(void) {
   link_mcu_trans.input_length = LINK_MCU_FRAME_LENGTH;
   link_mcu_trans.output_length = LINK_MCU_FRAME_LENGTH;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "DEBUG_MCU_LINK", send_debug_link);
+#endif
 }
 
 void link_mcu_send(void) {

sw/airborne/mcu_periph/i2c.c

@@ -27,13 +27,15 @@
 
 #include "mcu_periph/i2c.h"
 
-#include "subsystems/datalink/downlink.h"
+#if DOWNLINK
-#include "generated/periodic_telemetry.h"
+#include "subsystems/datalink/telemetry.h"
+#endif
 
 #ifdef USE_I2C0
 
 struct i2c_periph i2c0;
 
+#if DOWNLINK
 static void send_i2c0_err(void) {
   uint16_t i2c0_ack_fail_cnt          = i2c0.errors->ack_fail_cnt;
   uint16_t i2c0_miss_start_stop_cnt   = i2c0.errors->miss_start_stop_cnt;
@@ -57,6 +59,7 @@ static void send_i2c0_err(void) {
       &i2c0_last_unexpected_event,
       &_bus0);
 }
+#endif
 
 void i2c0_init(void) {
   i2c_init(&i2c0);
@@ -70,6 +73,7 @@ void i2c0_init(void) {
 
 struct i2c_periph i2c1;
 
+#if DOWNLINK
 static void send_i2c1_err(void) {
   uint16_t i2c1_ack_fail_cnt          = i2c1.errors->ack_fail_cnt;
   uint16_t i2c1_miss_start_stop_cnt   = i2c1.errors->miss_start_stop_cnt;
@@ -93,6 +97,7 @@ static void send_i2c1_err(void) {
       &i2c1_last_unexpected_event,
       &_bus1);
 }
+#endif
 
 void i2c1_init(void) {
   i2c_init(&i2c1);
@@ -106,6 +111,7 @@ void i2c1_init(void) {
 
 struct i2c_periph i2c2;
 
+#if DOWNLINK
 static void send_i2c2_err(void) {
   uint16_t i2c2_ack_fail_cnt          = i2c2.errors->ack_fail_cnt;
   uint16_t i2c2_miss_start_stop_cnt   = i2c2.errors->miss_start_stop_cnt;
@@ -129,6 +135,7 @@ static void send_i2c2_err(void) {
       &i2c2_last_unexpected_event,
       &_bus2);
 }
+#endif
 
 void i2c2_init(void) {
   i2c_init(&i2c2);
@@ -137,6 +144,7 @@ void i2c2_init(void) {
 
 #endif /* USE_I2C2 */
 
+#if DOWNLINK
 static void send_i2c_err(void) {
   static uint8_t _i2c_nb_cnt = 0;
   switch (_i2c_nb_cnt) {
@@ -162,14 +170,17 @@ static void send_i2c_err(void) {
   if (_i2c_nb_cnt == 3)
     _i2c_nb_cnt = 0;
 }
+#endif
 
 void i2c_init(struct i2c_periph* p) {
   p->trans_insert_idx = 0;
   p->trans_extract_idx = 0;
   p->status = I2CIdle;
 
+#if DOWNLINK
   // the first to register do it for the others
   register_periodic_telemetry(DefaultPeriodic, "I2C_ERRORS", send_i2c_err);
+#endif
 }
 
 

sw/airborne/mcu_periph/uart.c

@@ -22,12 +22,14 @@
 
 #include "mcu_periph/uart.h"
 
-#include "subsystems/datalink/downlink.h"
+#if DOWNLINK
-#include "generated/periodic_telemetry.h"
+#include "subsystems/datalink/telemetry.h"
+#endif
 
 #ifdef USE_UART0
 struct uart_periph uart0;
 
+#if DOWNLINK
 static void send_uart0_err(void) {
   uint16_t ore    = uart0.ore;
   uint16_t ne_err = uart0.ne_err;
@@ -36,12 +38,14 @@ static void send_uart0_err(void) {
   DOWNLINK_SEND_UART_ERRORS(DefaultChannel, DefaultDevice,
       &ore, &ne_err, &fe_err, &_bus0);
 }
+#endif
 
 #endif
 
 #ifdef USE_UART1
 struct uart_periph uart1;
 
+#if DOWNLINK
 static void send_uart1_err(void) {
   uint16_t ore    = uart1.ore;
   uint16_t ne_err = uart1.ne_err;
@@ -50,12 +54,14 @@ static void send_uart1_err(void) {
   DOWNLINK_SEND_UART_ERRORS(DefaultChannel, DefaultDevice,
       &ore, &ne_err, &fe_err, &_bus1);
 }
+#endif
 
 #endif
 
 #ifdef USE_UART2
 struct uart_periph uart2;
 
+#if DOWNLINK
 static void send_uart2_err(void) {
   uint16_t ore    = uart2.ore;
   uint16_t ne_err = uart2.ne_err;
@@ -64,12 +70,14 @@ static void send_uart2_err(void) {
   DOWNLINK_SEND_UART_ERRORS(DefaultChannel, DefaultDevice,
       &ore, &ne_err, &fe_err, &_bus2);
 }
+#endif
 
 #endif
 
 #ifdef USE_UART3
 struct uart_periph uart3;
 
+#if DOWNLINK
 static void send_uart3_err(void) {
   uint16_t ore    = uart3.ore;
   uint16_t ne_err = uart3.ne_err;
@@ -78,12 +86,14 @@ static void send_uart3_err(void) {
   DOWNLINK_SEND_UART_ERRORS(DefaultChannel, DefaultDevice,
       &ore, &ne_err, &fe_err, &_bus3);
 }
+#endif
 
 #endif
 
 #ifdef USE_UART4
 struct uart_periph uart4;
 
+#if DOWNLINK
 static void send_uart4_err(void) {
   uint16_t ore    = uart4.ore;
   uint16_t ne_err = uart4.ne_err;
@@ -92,12 +102,14 @@ static void send_uart4_err(void) {
   DOWNLINK_SEND_UART_ERRORS(DefaultChannel, DefaultDevice,
       &ore, &ne_err, &fe_err, &_bus4);
 }
+#endif
 
 #endif
 
 #ifdef USE_UART5
 struct uart_periph uart5;
 
+#if DOWNLINK
 static void send_uart5_err(void) {
   uint16_t ore    = uart5.ore;
   uint16_t ne_err = uart5.ne_err;
@@ -106,12 +118,14 @@ static void send_uart5_err(void) {
   DOWNLINK_SEND_UART_ERRORS(DefaultChannel, DefaultDevice,
       &ore, &ne_err, &fe_err, &_bus5);
 }
+#endif
 
 #endif
 
 #ifdef USE_UART6
 struct uart_periph uart6;
 
+#if DOWNLINK
 static void send_uart6_err(void) {
   const uint8_t _bus6 = 6;
   uint16_t ore    = uart6.ore;
@@ -120,9 +134,11 @@ static void send_uart6_err(void) {
   DOWNLINK_SEND_UART_ERRORS(DefaultChannel, DefaultDevice,
       &ore, &ne_err, &fe_err, &_bus6);
 }
+#endif
 
 #endif
 
+#if DOWNLINK
 static void send_uart_err(void) {
   static uint8_t uart_nb_cnt = 0;
   switch (uart_nb_cnt) {
@@ -160,6 +176,7 @@ static void send_uart_err(void) {
   if (uart_nb_cnt == 6)
     uart_nb_cnt = 0;
 }
+#endif
 
 void uart_periph_init(struct uart_periph* p) {
   p->rx_insert_idx = 0;
@@ -171,8 +188,10 @@ void uart_periph_init(struct uart_periph* p) {
   p->ne_err = 0;
   p->fe_err = 0;
 
+#if DOWNLINK
   // the first to register do it for the others
   register_periodic_telemetry(DefaultPeriodic, "UART_ERRORS", send_uart_err);
+#endif
 }
 
 bool_t uart_check_free_space(struct uart_periph* p, uint8_t len) {

sw/airborne/modules/cam_control/cam.c

@@ -35,11 +35,7 @@
 #include "point.h"
 #endif // POINT_CAM
 
-#ifndef DOWNLINK_DEVICE
+#include "subsystems/datalink/telemetry.h"
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
-#endif
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
 
 #ifdef TEST_CAM
 float test_cam_estimator_x;

sw/airborne/modules/cam_control/cam_track.c

@@ -29,8 +29,7 @@
 #include "subsystems/ins/hf_float.h"
 #endif
 
-#include "subsystems/datalink/downlink.h"
+#include "subsystems/datalink/telemetry.h"
-#include "generated/periodic_telemetry.h"
 
 struct FloatVect3 target_pos_ned;
 struct FloatVect3 target_speed_ned;

sw/airborne/modules/cam_control/rotorcraft_cam.c

@@ -27,8 +27,7 @@
 #include "firmwares/rotorcraft/navigation.h"
 #include "std.h"
 
-#include "subsystems/datalink/downlink.h"
+#include "subsystems/datalink/telemetry.h"
-#include "generated/periodic_telemetry.h"
 
 uint8_t rotorcraft_cam_mode;
 

sw/airborne/subsystems/ahrs/ahrs_aligner.c

@@ -32,9 +32,6 @@
 #include "subsystems/imu.h"
 #include "led.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 struct AhrsAligner ahrs_aligner;
 
 #define SAMPLES_NB PERIODIC_FREQUENCY
@@ -45,6 +42,9 @@ static struct Int32Vect3 mag_sum;
 static int32_t ref_sensor_samples[SAMPLES_NB];
 static uint32_t samples_idx;
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_aligner(void) {
   DOWNLINK_SEND_FILTER_ALIGNER(DefaultChannel, DefaultDevice,
       &ahrs_aligner.lp_gyro.p,
@@ -57,6 +57,7 @@ static void send_aligner(void) {
       &ahrs_aligner.low_noise_cnt,
       &ahrs_aligner.status);
 }
+#endif
 
 void ahrs_aligner_init(void) {
 
@@ -68,7 +69,9 @@ void ahrs_aligner_init(void) {
   ahrs_aligner.noise = 0;
   ahrs_aligner.low_noise_cnt = 0;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "FILTER_ALIGNER", send_aligner);
+#endif
 }
 
 #ifndef LOW_NOISE_THRESHOLD

sw/airborne/subsystems/ahrs/ahrs_ardrone2.c

@@ -33,13 +33,13 @@
 #include "boards/ardrone/at_com.h"
 #include "subsystems/electrical.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 struct AhrsARDrone ahrs_impl;
 struct AhrsAligner ahrs_aligner;
 unsigned char buffer[2048]; //Packet buffer
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_ahrs_ad2(void) {
   DOWNLINK_SEND_AHRS_ARDRONE2(DefaultChannel, DefaultDevice,
       &ahrs_impl.state,
@@ -56,6 +56,7 @@ static void send_ahrs_ad2(void) {
       &ahrs_impl.altitude,
       &ahrs_impl.battery);
 }
+#endif
 
 void ahrs_init(void) {
   init_at_com();
@@ -66,7 +67,9 @@ void ahrs_init(void) {
 
   ahrs.status = AHRS_RUNNING;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "AHRS_ARDRONE2", send_ahrs_ad2);
+#endif
 }
 
 void ahrs_align(void) {

sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c

@@ -40,10 +40,6 @@
 #include "subsystems/gps.h"
 #endif
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
-
 //#include "../../test/pprz_algebra_print.h"
 
 #if AHRS_PROPAGATE_RMAT && AHRS_PROPAGATE_QUAT
@@ -87,6 +83,9 @@ static inline void compute_body_orientation_and_rates(void);
 
 struct AhrsFloatCmpl ahrs_impl;
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_att(void) {
   struct FloatEulers ltp_to_imu_euler;
   FLOAT_EULERS_OF_QUAT(ltp_to_imu_euler, ahrs_impl.ltp_to_imu_quat);
@@ -127,6 +126,7 @@ static void send_rmat(void) {
       &(att_rmat->m[8]));
 }
 */
+#endif
 
 void ahrs_init(void) {
   ahrs.status = AHRS_UNINIT;
@@ -151,7 +151,9 @@ void ahrs_init(void) {
   ahrs_impl.correct_gravity = FALSE;
 #endif
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "AHRS_EULER_INT", send_att);
+#endif
 }
 
 void ahrs_align(void) {

sw/airborne/subsystems/ahrs/ahrs_float_lkf.c

@@ -35,9 +35,6 @@
 #include "generated/airframe.h"
 #include "math/pprz_algebra_float.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 #include <stdio.h>
 
 
@@ -217,6 +214,9 @@ float bafl_R_mag;
 	INT32_RMAT_TRANSP_RATEMULT(ahrs.body_rate, imu.body_to_imu_rmat, ahrs.imu_rate); \
   }
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_lkf(void) {
   DOWNLINK_SEND_AHRS_LKF(&bafl_eulers.phi,
       DefaultChannel, DefaultDevice,
@@ -277,7 +277,7 @@ static void send_lkf_mag(void) {
       &bafl_b_m_err.q,
       &bafl_b_m_err.r);
 }
-
+#endif
 
 void ahrs_init(void) {
   int i, j;
@@ -315,10 +315,12 @@ void ahrs_init(void) {
 
   FLOAT_VECT3_ASSIGN(bafl_h, BAFL_hx,BAFL_hy, BAFL_hz);
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "AHRS_LKF", send_lkf);
   register_periodic_telemetry(DefaultPeriodic, "AHRS_LKF_DEBUG", send_lkf_debug);
   register_periodic_telemetry(DefaultPeriodic, "AHRS_LKF_ACC_DBG", send_lkf_acc);
   register_periodic_telemetry(DefaultPeriodic, "AHRS_LKF_MAG_DBG", send_lkf_mag);
+#endif
 }
 
 void ahrs_align(void) {

sw/airborne/subsystems/ahrs/ahrs_infrared.c

@@ -37,14 +37,11 @@
 
 #include "state.h"
 
-#ifndef DOWNLINK_DEVICE
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
-#endif
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 float heading;
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_infrared(void) {
   DOWNLINK_SEND_IR_SENSORS(DefaultChannel, DefaultDevice,
       &infrared.value.ir1, &infrared.value.ir2, &infrared.pitch, &infrared.roll, &infrared.top);
@@ -56,14 +53,17 @@ static void send_status(void) {
   if (contrast < 50) mde = 7;
   DOWNLINK_SEND_STATE_FILTER_STATUS(DefaultChannel, DefaultDevice, &mde, &contrast);
 }
+#endif
 
 void ahrs_init(void) {
   ahrs.status = AHRS_UNINIT;
 
   heading = 0.;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "IR_SENSORS", send_infrared);
   register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_status);
+#endif
 }
 
 void ahrs_align(void) {

sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c

@@ -38,9 +38,6 @@
 
 #include "generated/airframe.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 #ifndef FACE_REINJ_1
 #define FACE_REINJ_1 1024
 #endif
@@ -77,6 +74,9 @@ static inline void set_body_state_from_euler(void);
     while (_a < -PI_INTEG_EULER)  _a += TWO_PI_INTEG_EULER; \
   }
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_filter(void) {
   DOWNLINK_SEND_FILTER(DefaultChannel, DefaultDevice,
       &ahrs_impl.ltp_to_imu_euler.phi,
@@ -111,6 +111,7 @@ static void send_bias(void) {
   DOWNLINK_SEND_AHRS_GYRO_BIAS_INT(DefaultChannel, DefaultDevice,
       &ahrs_impl.gyro_bias.p, &ahrs_impl.gyro_bias.q, &ahrs_impl.gyro_bias.r);
 }
+#endif
 
 void ahrs_init(void) {
   ahrs.status = AHRS_UNINIT;
@@ -124,9 +125,11 @@ void ahrs_init(void) {
 
   ahrs_impl.mag_offset = AHRS_MAG_OFFSET;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "FILTER", send_filter);
   register_periodic_telemetry(DefaultPeriodic, "AHRS_EULER_INT", send_euler);
   register_periodic_telemetry(DefaultPeriodic, "AHRS_GYRO_BIAS_INT", send_bias);
+#endif
 }
 
 void ahrs_align(void) {

sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c

@@ -43,9 +43,6 @@
 
 #include "generated/airframe.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 //#include "../../test/pprz_algebra_print.h"
 
 static inline void ahrs_update_mag_full(void);
@@ -79,6 +76,9 @@ float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
 
 static inline void set_body_state_from_quat(void);
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_quat(void) {
   struct Int32Quat* quat = stateGetNedToBodyQuat_i();
   DOWNLINK_SEND_AHRS_QUAT_INT(DefaultChannel, DefaultDevice,
@@ -109,6 +109,7 @@ static void send_bias(void) {
   DOWNLINK_SEND_AHRS_GYRO_BIAS_INT(DefaultChannel, DefaultDevice,
       &ahrs_impl.gyro_bias.p, &ahrs_impl.gyro_bias.q, &ahrs_impl.gyro_bias.r);
 }
+#endif
 
 void ahrs_init(void) {
 
@@ -138,9 +139,11 @@ void ahrs_init(void) {
 
   VECT3_ASSIGN(ahrs_impl.mag_h, MAG_BFP_OF_REAL(AHRS_H_X), MAG_BFP_OF_REAL(AHRS_H_Y), MAG_BFP_OF_REAL(AHRS_H_Z));
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "AHRS_QUAT_INT", send_quat);
   register_periodic_telemetry(DefaultPeriodic, "AHRS_EULER_INT", send_euler);
   register_periodic_telemetry(DefaultPeriodic, "AHRS_GYRO_BIAS_INT", send_bias);
+#endif
 
 }
 

sw/airborne/subsystems/gps.c

@@ -26,12 +26,6 @@
 
 #include "subsystems/gps.h"
 
-#ifndef DOWNLINK_DEVICE
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
-#endif
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 #include "led.h"
 
 #define MSEC_PER_WEEK (1000*60*60*24*7)
@@ -40,6 +34,9 @@ struct GpsState gps;
 
 struct GpsTimeSync gps_time_sync;
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_gps(void) {
   static uint8_t i;
   int16_t climb = -gps.ned_vel.z;
@@ -97,6 +94,7 @@ static void send_gps_lla(void) {
 static void send_gps_sol(void) {
   DOWNLINK_SEND_GPS_SOL(DefaultChannel, DefaultDevice, &gps.pacc, &gps.sacc, &gps.pdop, &gps.num_sv);
 }
+#endif
 
 void gps_init(void) {
   gps.fix = GPS_FIX_NONE;
@@ -108,10 +106,12 @@ void gps_init(void) {
   gps_impl_init();
 #endif
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "GPS", send_gps);
   register_periodic_telemetry(DefaultPeriodic, "GPS_INT", send_gps_int);
   register_periodic_telemetry(DefaultPeriodic, "GPS_LLA", send_gps_lla);
   register_periodic_telemetry(DefaultPeriodic, "GPS_SOL", send_gps_sol);
+#endif
 }
 
 uint32_t gps_tow_from_sys_ticks(uint32_t sys_ticks)

sw/airborne/subsystems/imu.c

@@ -26,11 +26,8 @@
 
 #include "subsystems/imu.h"
 
-#ifndef DOWNLINK_DEVICE
+#if DOWNLINK
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+#include "subsystems/datalink/telemetry.h"
-#endif
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
 
 static void send_accel_raw(void) {
   DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice,
@@ -93,6 +90,8 @@ static void send_mag_calib(void) {
 }
 #endif
 
+#endif
+
 struct Imu imu;
 
 void imu_init(void) {
@@ -123,6 +122,7 @@ INFO("Magnetometer neutrals are set to zero, you should calibrate!")
   INT32_QUAT_NORMALIZE(imu.body_to_imu_quat);
   INT32_RMAT_OF_EULERS(imu.body_to_imu_rmat, body_to_imu_eulers);
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_RAW", send_accel_raw);
   register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL_SCALED", send_accel_scaled);
   register_periodic_telemetry(DefaultPeriodic, "IMU_ACCEL", send_accel);
@@ -134,6 +134,7 @@ INFO("Magnetometer neutrals are set to zero, you should calibrate!")
   register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_SCALED", send_mag_scaled);
   register_periodic_telemetry(DefaultPeriodic, "IMU_MAG", send_mag);
   register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_CURRENT_CALIBRATION", send_mag_calib);
+#endif
 #endif
 
   imu_impl_init();

sw/airborne/subsystems/ins/hf_float.c

@@ -36,9 +36,6 @@
 
 #include "generated/airframe.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 #ifdef SITL
 #include <stdio.h>
 #define DBG_LEVEL 1
@@ -240,6 +237,9 @@ static inline void b2_hff_update_y(struct HfilterFloat* hff_work, float y_meas,
 static inline void b2_hff_update_xdot(struct HfilterFloat* hff_work, float vel, float Rvel);
 static inline void b2_hff_update_ydot(struct HfilterFloat* hff_work, float vel, float Rvel);
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_hff(void) {
   DOWNLINK_SEND_HFF(DefaultChannel, DefaultDevice,
       &b2_hff_state.x,
@@ -271,6 +271,8 @@ static void send_hff_gps(void) {
 }
 #endif
 
+#endif
+
 void b2_hff_init(float init_x, float init_xdot, float init_y, float init_ydot) {
   Rgps_pos = HFF_R_POS;
   Rgps_vel = HFF_R_SPEED;
@@ -311,11 +313,13 @@ void b2_hff_init(float init_x, float init_xdot, float init_y, float init_ydot) {
   b2_hff_lost_counter = 0;
   b2_hff_lost_limit = HFF_LOST_LIMIT;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "HFF", send_hff);
   register_periodic_telemetry(DefaultPeriodic, "HFF_DBG", send_hff_debug);
 #ifdef GPS_LAG
   register_periodic_telemetry(DefaultPeriodic, "HFF_GPS", send_hff_gps);
 #endif
+#endif
 }
 
 static inline void b2_hff_init_x(float init_x, float init_xdot) {

sw/airborne/subsystems/ins/ins_int.c

@@ -51,9 +51,6 @@
 
 #include "generated/flight_plan.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 #ifndef USE_INS_NAV_INIT
 #define USE_INS_NAV_INIT TRUE
 PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
@@ -86,6 +83,9 @@ struct NedCoor_i ins_ltp_pos;
 struct NedCoor_i ins_ltp_speed;
 struct NedCoor_i ins_ltp_accel;
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_ins(void) {
   DOWNLINK_SEND_INS(DefaultChannel, DefaultDevice,
       &ins_ltp_pos.x, &ins_ltp_pos.y, &ins_ltp_pos.z,
@@ -106,6 +106,7 @@ static void send_ins_ref(void) {
         &ins_ltp_def.hmsl, &ins_qfe);
   }
 }
+#endif
 
 void ins_init() {
 #if USE_INS_NAV_INIT
@@ -146,9 +147,11 @@ void ins_init() {
   // TODO correct init
   ins.status = INS_RUNNING;
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "INS", send_ins);
   register_periodic_telemetry(DefaultPeriodic, "INS_Z", send_ins_z);
   register_periodic_telemetry(DefaultPeriodic, "INS_REF", send_ins_ref);
+#endif
 }
 
 void ins_periodic( void ) {

sw/airborne/subsystems/ins/vf_extended_float.c

@@ -39,9 +39,6 @@
 #include "subsystems/datalink/downlink.h"
 #endif
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 /*
 
 X = [ z zdot accel_bias baro_offset ]
@@ -74,12 +71,16 @@ float vff_P[VFF_STATE_SIZE][VFF_STATE_SIZE];
 float vff_z_meas;
 float vff_z_meas_baro;
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_vffe(void) {
   DOWNLINK_SEND_VFF_EXTENDED(DefaultChannel, DefaultDevice,
       &vff_z_meas, &vff_z_meas_baro,
       &vff_z, &vff_zdot, &vff_zdotdot,
       &vff_bias, &vff_offset);
 }
+#endif
 
 void vff_init(float init_z, float init_zdot, float init_accel_bias, float init_baro_offset) {
   vff_z = init_z;
@@ -93,7 +94,9 @@ void vff_init(float init_z, float init_zdot, float init_accel_bias, float init_b
     vff_P[i][i] = INIT_PXX;
   }
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "VFF_EXTENDED", send_vffe);
+#endif
 }
 
 

sw/airborne/subsystems/ins/vf_float.c

@@ -28,9 +28,6 @@
 
 #include "subsystems/ins/vf_float.h"
 
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 /*
 
 X = [ z zdot bias ]
@@ -69,11 +66,15 @@ float vff_P[VFF_STATE_SIZE][VFF_STATE_SIZE];
 
 float vff_z_meas;
 
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_vff(void) {
   DOWNLINK_SEND_VFF(DefaultChannel, DefaultDevice,
       &vff_z_meas, &vff_z, &vff_zdot, &vff_bias,
       &vff_P[0][0], &vff_P[1][1], &vff_P[2][2]);
 }
+#endif
 
 void vff_init(float init_z, float init_zdot, float init_bias) {
   vff_z    = init_z;
@@ -86,7 +87,9 @@ void vff_init(float init_z, float init_zdot, float init_bias) {
     vff_P[i][i] = VF_FLOAT_INIT_PXX;
   }
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "VFF", send_vff);
+#endif
 }
 
 

sw/airborne/subsystems/nav.c

@@ -36,12 +36,6 @@
 #include "inter_mcu.h"
 #include "subsystems/navigation/traffic_info.h"
 
-#ifndef DOWNLINK_DEVICE
-#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
-#endif
-#include "subsystems/datalink/downlink.h"
-#include "generated/periodic_telemetry.h"
-
 #define RCLost() bit_is_set(fbw_state->status, RADIO_REALLY_LOST)
 
 enum oval_status oval_status;
@@ -440,6 +434,9 @@ void nav_periodic_task(void) {
 /**
  * \brief Periodic telemetry
  */
+#if DOWNLINK
+#include "subsystems/datalink/telemetry.h"
+
 static void send_nav_ref(void) {
   DOWNLINK_SEND_NAVIGATION_REF(DefaultChannel, DefaultDevice,
       &nav_utm_east0, &nav_utm_north0, &nav_utm_zone0);
@@ -475,6 +472,7 @@ static void send_survey(void) {
         &nav_survey_east, &nav_survey_north, &nav_survey_west, &nav_survey_south);
   }
 }
+#endif
 
 /**
  *  \brief Navigation Initialisation
@@ -493,12 +491,14 @@ void nav_init(void) {
   nav_ground_speed_setpoint = NOMINAL_AIRSPEED;
 #endif
 
+#if DOWNLINK
   register_periodic_telemetry(DefaultPeriodic, "NAVIGATION_REF", send_nav_ref);
   register_periodic_telemetry(DefaultPeriodic, "NAVIGATION", send_nav);
   register_periodic_telemetry(DefaultPeriodic, "WP_MOVED", send_wp_moved);
   register_periodic_telemetry(DefaultPeriodic, "CIRCLE", send_circle);
   register_periodic_telemetry(DefaultPeriodic, "SEGMENT", send_segment);
   register_periodic_telemetry(DefaultPeriodic, "SURVEY", send_survey);
+#endif
 }
 
 /**

sw/airborne/subsystems/radio_control/ppm.c

@@ -22,20 +22,17 @@
 #include "subsystems/radio_control.h"
 #include "subsystems/radio_control/ppm.h"
 
-#ifndef DOWNLINK_DEVICE
+uint16_t ppm_pulses[ PPM_NB_CHANNEL ];
-#define DOWNLINK_DEVICE DOWNLINK_FBW_DEVICE
+volatile bool_t ppm_frame_available;
-#endif
-#include "subsystems/datalink/downlink.h"
 
+#if DOWNLINK
 #ifdef FBW
 #define DOWNLINK_TELEMETRY &telemetry_Fbw
 #else
 #define DOWNLINK_TELEMETRY DefaultPeriodic
 #endif
-#include "generated/periodic_telemetry.h"
 
-uint16_t ppm_pulses[ PPM_NB_CHANNEL ];
+#include "subsystems/datalink/telemetry.h"
-volatile bool_t ppm_frame_available;
 
 static void send_ppm(void) {
   uint16_t ppm_pulses_usec[RADIO_CONTROL_NB_CHANNEL];
@@ -44,10 +41,13 @@ static void send_ppm(void) {
   DOWNLINK_SEND_PPM(DefaultChannel, DefaultDevice,
       &radio_control.frame_rate, PPM_NB_CHANNEL, ppm_pulses_usec);
 }
+#endif
 
 void radio_control_impl_init(void) {
   ppm_frame_available = FALSE;
   ppm_arch_init();
 
+#if DOWNLINK
   register_periodic_telemetry(DOWNLINK_TELEMETRY, "PPM", send_ppm);
+#endif
 }