[fixedwing] ifdef some downlink/telemetry functions to make telemetry subsystem optional

sw/airborne/firmwares/fixedwing/autopilot.c

@@ -29,9 +29,7 @@
 #include "firmwares/fixedwing/autopilot.h"
 
 #include "state.h"
-#include "subsystems/datalink/telemetry.h"
 #include "firmwares/fixedwing/nav.h"
-#include "generated/settings.h"
 
 #ifdef POWER_SWITCH_GPIO
 #include "mcu_periph/gpio.h"
@@ -58,6 +56,10 @@ bool_t gps_lost;
 
 bool_t power_switch;
 
+#if PERIODIC_TELEMETRY
+#include "subsystems/datalink/telemetry.h"
+#include "generated/settings.h"
+
 void send_autopilot_version(struct transport_tx *trans, struct link_device *dev)
 {
   static uint32_t ap_version = PPRZ_VERSION_INT;
@@ -88,14 +90,6 @@ static void send_mode(struct transport_tx *trans, struct link_device *dev)
                           &pprz_mode, &v_ctl_mode, &lateral_mode, &horizontal_mode, &rc_settings_mode, &mcu1_status);
 }
 
-void autopilot_send_mode(void)
-{
-  // use default telemetry here
-#if DOWNLINK
-  send_mode(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
-#endif
-}
-
 static void send_attitude(struct transport_tx *trans, struct link_device *dev)
 {
   struct FloatEulers *att = stateGetNedToBodyEulers_f();
@@ -159,6 +153,15 @@ static void send_airspeed(struct transport_tx *trans __attribute__((unused)),
   pprz_msg_send_AIRSPEED(trans, dev, AC_ID, stateGetAirspeed_f(), &zero, &zero, &zero);
 #endif
 }
+#endif /* PERIODIC_TELEMETRY */
+
+void autopilot_send_mode(void)
+{
+  // use default telemetry here
+#if DOWNLINK
+  send_mode(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
+#endif
+}
 
 void autopilot_init(void)
 {
@@ -177,6 +180,7 @@ void autopilot_init(void)
   gpio_clear(POWER_SWITCH_GPIO);
 #endif
 
+#if PERIODIC_TELEMETRY
   /* register some periodic message */
   register_periodic_telemetry(DefaultPeriodic, "AUTOPILOT_VERSION", send_autopilot_version);
   register_periodic_telemetry(DefaultPeriodic, "ALIVE", send_alive);
@@ -191,5 +195,6 @@ void autopilot_init(void)
 #if defined RADIO_CALIB && defined RADIO_CONTROL_SETTINGS
   register_periodic_telemetry(DefaultPeriodic, "RC_SETTINGS", send_rc_settings);
 #endif
+#endif
 }
 

sw/airborne/firmwares/fixedwing/main_ap.c

@@ -72,9 +72,13 @@ PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BO
 #endif
 
 // datalink & telemetry
+#if DATALINK
 #include "subsystems/datalink/datalink.h"
 #include "subsystems/datalink/downlink.h"
+#endif
+#if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
+#endif
 #include "subsystems/settings.h"
 
 // modules & settings
@@ -112,6 +116,9 @@ PRINT_CONFIG_VAR(CONTROL_FREQUENCY)
 /* TELEMETRY_FREQUENCY is defined in generated/periodic_telemetry.h
  * defaults to 60Hz or set by TELEMETRY_FREQUENCY configure option in airframe file
  */
+#ifndef TELEMETRY_FREQUENCY
+#define TELEMETRY_FREQUENCY 60
+#endif
 PRINT_CONFIG_VAR(TELEMETRY_FREQUENCY)
 
 /* MODULES_FREQUENCY is defined in generated/modules.h
@@ -510,7 +517,7 @@ void navigation_task(void)
   CallTCAS();
 #endif
 
-#ifndef PERIOD_NAVIGATION_Ap_0 // If not sent periodically (in default 0 mode)
+#if DOWNLINK && !defined PERIOD_NAVIGATION_Ap_0 // If not sent periodically (in default 0 mode)
   SEND_NAVIGATION(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
 #endif
 
@@ -652,8 +659,10 @@ void monitor_task(void)
       *stateGetHorizontalSpeedNorm_f() > MIN_SPEED_FOR_TAKEOFF) {
     autopilot_flight_time = 1;
     launch = TRUE; /* Not set in non auto launch */
+#if DOWNLINK
     uint16_t time_sec = sys_time.nb_sec;
     DOWNLINK_SEND_TAKEOFF(DefaultChannel, DefaultDevice, &time_sec);
+#endif
   }
 
 }

sw/airborne/firmwares/fixedwing/nav.h

@@ -201,6 +201,7 @@ bool_t nav_approaching_xy(float x, float y, float from_x, float from_y, float ap
 #define GetPosAlt() (stateGetPositionUtm_f()->alt)
 #define GetAltRef() (ground_alt)
 
+#if DOWNLINK
 #define SEND_NAVIGATION(_trans, _dev) { \
     uint8_t _circle_count = NavCircleCount(); \
     struct EnuCoor_f* pos = stateGetPositionEnu_f(); \
@@ -216,5 +217,6 @@ extern bool_t DownlinkSendWpNr(uint8_t _wp);
     float y = nav_utm_north0 + waypoints[i].y; \
     pprz_msg_send_WP_MOVED(_trans, _dev, AC_ID, &i, &x, &y, &(waypoints[i].a),&nav_utm_zone0); \
   }
+#endif /* DOWNLINK */
 
 #endif /* NAV_H */