Correct compilation when GCS library not available

libraries/AC_AttitudeControl/AC_WeatherVane.cpp

@@ -219,7 +219,8 @@ bool AC_WeatherVane::get_yaw_out(float &yaw_output, const int16_t pilot_yaw, con
     }
 
     if (!active_msg_sent) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Weathervane Active: %s", dir_string);
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Weathervane Active: %s", dir_string);
+        (void)dir_string;  // in case GCS is disabled
         active_msg_sent = true;
     }
 

libraries/AP_Arming/AP_Arming.cpp

@@ -244,6 +244,7 @@ void AP_Arming::check_failed(const enum AP_Arming::ArmingChecks check, bool repo
     }
     hal.util->snprintf(taggedfmt, sizeof(taggedfmt), metafmt, fmt);
 
+#if HAL_GCS_ENABLED
     MAV_SEVERITY severity = MAV_SEVERITY_CRITICAL;
     if (!check_enabled(check)) {
         // technically should be NOTICE, but will annoy users at that level:
@@ -253,10 +254,12 @@ void AP_Arming::check_failed(const enum AP_Arming::ArmingChecks check, bool repo
     va_start(arg_list, fmt);
     gcs().send_textv(severity, taggedfmt, arg_list);
     va_end(arg_list);
+#endif  // HAL_GCS_ENABLED
 }
 
 void AP_Arming::check_failed(bool report, const char *fmt, ...) const
 {
+#if HAL_GCS_ENABLED
     if (!report) {
         return;
     }
@@ -275,6 +278,7 @@ void AP_Arming::check_failed(bool report, const char *fmt, ...) const
     va_start(arg_list, fmt);
     gcs().send_textv(MAV_SEVERITY_CRITICAL, taggedfmt, arg_list);
     va_end(arg_list);
+#endif  // HAL_GCS_ENABLED
 }
 
 bool AP_Arming::barometer_checks(bool report)
@@ -1656,7 +1660,7 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
     running_arming_checks = false;
 
     if (armed && do_arming_checks && checks_to_perform == 0) {
-        gcs().send_text(MAV_SEVERITY_WARNING, "Warning: Arming Checks Disabled");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Warning: Arming Checks Disabled");
     }
 
 #if HAL_GYROFFT_ENABLED
@@ -1685,7 +1689,7 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
             // If a fence is set to auto-enable, turn on the fence
             if (fence->auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
                 fence->enable(true);
-                gcs().send_text(MAV_SEVERITY_INFO, "Fence: auto-enabled");
+                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Fence: auto-enabled");
             }
         }
     }
@@ -1752,7 +1756,7 @@ void AP_Arming::send_arm_disarm_statustext(const char *str) const
     if (option_enabled(AP_Arming::Option::DISABLE_STATUSTEXT_ON_STATE_CHANGE)) {
         return;
     }
-    gcs().send_text(MAV_SEVERITY_INFO, "%s", str);
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s", str);
 }
 
 AP_Arming::Required AP_Arming::arming_required() const

libraries/AP_Avoidance/AP_Avoidance.cpp

@@ -396,6 +396,7 @@ MAV_COLLISION_THREAT_LEVEL AP_Avoidance::current_threat_level() const {
     return _obstacles[_current_most_serious_threat].threat_level;
 }
 
+#if HAL_GCS_ENABLED
 void AP_Avoidance::send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour) const
 {
     const mavlink_collision_t packet{
@@ -409,6 +410,7 @@ void AP_Avoidance::send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_
     };
     gcs().send_to_active_channels(MAVLINK_MSG_ID_COLLISION, (const char *)&packet);
 }
+#endif
 
 void AP_Avoidance::handle_threat_gcs_notify(AP_Avoidance::Obstacle *threat)
 {

libraries/AP_Landing/AP_Landing.cpp

@@ -253,7 +253,7 @@ bool AP_Landing::verify_land(const Location &prev_WP_loc, Location &next_WP_loc,
     default:
         // returning TRUE while executing verify_land() will increment the
         // mission index which in many cases will trigger an RTL for end-of-mission
-        gcs().send_text(MAV_SEVERITY_CRITICAL, "Landing configuration error, invalid LAND_TYPE");
+        GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Landing configuration error, invalid LAND_TYPE");
         success = true;
         break;
     }
@@ -486,25 +486,25 @@ bool AP_Landing::restart_landing_sequence()
             mission.set_current_cmd(current_index+1))
     {
         // if the next immediate command is MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT to climb, do it
-        gcs().send_text(MAV_SEVERITY_NOTICE, "Restarted landing sequence. Climbing to %dm", (signed)cmd.content.location.alt/100);
+        GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Restarted landing sequence. Climbing to %dm", (signed)cmd.content.location.alt/100);
         success =  true;
     }
     else if (do_land_start_index != 0 &&
             mission.set_current_cmd(do_land_start_index))
     {
         // look for a DO_LAND_START and use that index
-        gcs().send_text(MAV_SEVERITY_NOTICE, "Restarted landing via DO_LAND_START: %d",do_land_start_index);
+        GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Restarted landing via DO_LAND_START: %d",do_land_start_index);
         success =  true;
     }
     else if (prev_cmd_with_wp_index != AP_MISSION_CMD_INDEX_NONE &&
                mission.set_current_cmd(prev_cmd_with_wp_index))
     {
         // if a suitable navigation waypoint was just executed, one that contains lat/lng/alt, then
         // repeat that cmd to restart the landing from the top of approach to repeat intended glide slope
-        gcs().send_text(MAV_SEVERITY_NOTICE, "Restarted landing sequence at waypoint %d", prev_cmd_with_wp_index);
+        GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Restarted landing sequence at waypoint %d", prev_cmd_with_wp_index);
         success =  true;
     } else {
-        gcs().send_text(MAV_SEVERITY_WARNING, "Unable to restart landing sequence");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Unable to restart landing sequence");
         success =  false;
     }
 

libraries/AP_Landing/AP_Landing_Deepstall.cpp

@@ -345,7 +345,7 @@ bool AP_Landing_Deepstall::override_servos(void)
 
     if (elevator == nullptr) {
         // deepstalls are impossible without these channels, abort the process
-        gcs().send_text(MAV_SEVERITY_CRITICAL, "Deepstall: Unable to find the elevator channels");
+        GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Deepstall: Unable to find the elevator channels");
         request_go_around();
         return false;
     }
@@ -533,17 +533,17 @@ void AP_Landing_Deepstall::build_approach_path(bool use_current_heading)
 
 #ifdef DEBUG_PRINTS
     // TODO: Send this information via a MAVLink packet
-    gcs().send_text(MAV_SEVERITY_INFO, "Arc: %3.8f %3.8f",
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Arc: %3.8f %3.8f",
                                      (double)(arc.lat / 1e7),(double)( arc.lng / 1e7));
-    gcs().send_text(MAV_SEVERITY_INFO, "Loiter en: %3.8f %3.8f",
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Loiter en: %3.8f %3.8f",
                                      (double)(arc_entry.lat / 1e7), (double)(arc_entry.lng / 1e7));
-    gcs().send_text(MAV_SEVERITY_INFO, "Loiter ex: %3.8f %3.8f",
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Loiter ex: %3.8f %3.8f",
                                      (double)(arc_exit.lat / 1e7), (double)(arc_exit.lng / 1e7));
-    gcs().send_text(MAV_SEVERITY_INFO, "Extended: %3.8f %3.8f",
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Extended: %3.8f %3.8f",
                                      (double)(extended_approach.lat / 1e7), (double)(extended_approach.lng / 1e7));
-    gcs().send_text(MAV_SEVERITY_INFO, "Extended by: %f (%f)", (double)approach_extension_m,
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Extended by: %f (%f)", (double)approach_extension_m,
                                      (double)expected_travel_distance);
-    gcs().send_text(MAV_SEVERITY_INFO, "Target Heading: %3.1f", (double)target_heading_deg);
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Target Heading: %3.1f", (double)target_heading_deg);
 #endif // DEBUG_PRINTS
 
 }
@@ -590,7 +590,7 @@ float AP_Landing_Deepstall::predict_travel_distance(const Vector3f wind, const f
 
     if(print) {
         // allow printing the travel distances on the final entry as its used for tuning
-        gcs().send_text(MAV_SEVERITY_INFO, "Deepstall: Entry: %0.1f (m) Travel: %0.1f (m)",
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Deepstall: Entry: %0.1f (m) Travel: %0.1f (m)",
                                          (double)stall_distance, (double)predicted_travel_distance);
     }
 
@@ -620,7 +620,7 @@ float AP_Landing_Deepstall::update_steering()
         // panic if no position source is available
         // continue the stall but target just holding the wings held level as deepstall should be a minimal
         // energy configuration on the aircraft, and if a position isn't available aborting would be worse
-        gcs().send_text(MAV_SEVERITY_CRITICAL, "Deepstall: Invalid data from AHRS. Holding level");
+        GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Deepstall: Invalid data from AHRS. Holding level");
         hold_level = true;
     }
 
@@ -652,7 +652,7 @@ float AP_Landing_Deepstall::update_steering()
     float error = wrap_PI(constrain_float(desired_change, -yaw_rate_limit_rps, yaw_rate_limit_rps) - yaw_rate);
 
 #ifdef DEBUG_PRINTS
-    gcs().send_text(MAV_SEVERITY_INFO, "x: %f e: %f r: %f d: %f",
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "x: %f e: %f r: %f d: %f",
                                     (double)crosstrack_error,
                                     (double)error,
                                     (double)degrees(yaw_rate),

libraries/AP_Landing/AP_Landing_Slope.cpp

@@ -38,7 +38,7 @@ void AP_Landing::type_slope_do_land(const AP_Mission::Mission_Command& cmd, cons
     type_slope_flags.post_stats = false;
 
     type_slope_stage = SlopeStage::NORMAL;
-    gcs().send_text(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude);
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude);
 }
 
 void AP_Landing::type_slope_verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed)
@@ -106,9 +106,9 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
         if (type_slope_stage != SlopeStage::FINAL) {
             type_slope_flags.post_stats = true;
             if (is_flying && (AP_HAL::millis()-last_flying_ms) > 3000) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)gps.ground_speed());
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)gps.ground_speed());
             } else {
-                gcs().send_text(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
+                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
                                   (double)height, (double)sink_rate,
                                   (double)gps.ground_speed(),
                                   (double)current_loc.get_distance(next_WP_loc));
@@ -122,7 +122,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
             AP_LandingGear *LG_inst = AP_LandingGear::get_singleton();
             if (LG_inst != nullptr && !LG_inst->check_before_land()) {
                 type_slope_request_go_around();
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "Landing gear was not deployed");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Landing gear was not deployed");
             }
 #endif
         }
@@ -158,7 +158,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
     // this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
     if (type_slope_flags.post_stats && !is_armed) {
         type_slope_flags.post_stats = false;
-        gcs().send_text(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)current_loc.get_distance(next_WP_loc));
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)current_loc.get_distance(next_WP_loc));
     }
 
     // check if we should auto-disarm after a confirmed landing
@@ -226,7 +226,7 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_FixedWi
 
         // is projected slope too steep?
         if (new_slope_deg - initial_slope_deg > slope_recalc_steep_threshold_to_abort) {
-            gcs().send_text(MAV_SEVERITY_INFO, "Landing slope too steep, aborting (%.0fm %.1fdeg)",
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Landing slope too steep, aborting (%.0fm %.1fdeg)",
                                              (double)rangefinder_state.correction, (double)(new_slope_deg - initial_slope_deg));
             alt_offset = rangefinder_state.correction;
             flags.commanded_go_around = true;
@@ -319,7 +319,7 @@ void AP_Landing::type_slope_setup_landing_glide_slope(const Location &prev_WP_lo
     bool is_first_calc = is_zero(slope);
     slope = (sink_height - aim_height) / (total_distance - flare_distance);
     if (is_first_calc) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Landing glide slope %.1f degrees", (double)degrees(atanf(slope)));
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Landing glide slope %.1f degrees", (double)degrees(atanf(slope)));
     }
 
     // calculate point along that slope 500m ahead

libraries/AP_Motors/AP_MotorsHeli_RSC.cpp

@@ -313,20 +313,20 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
                 _idle_throttle = constrain_float( get_arot_idle_output(), 0.0f, 0.4f);
             }
             if (!_autorotating) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Autorotation");
                 _autorotating =true;
             }
         } else {
             if (_autorotating) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation Stopped");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Autorotation Stopped");
                 _autorotating =false;
             }
             // set rotor control speed to idle speed parameter, this happens instantly and ignores ramping
             if (_turbine_start && _starting == true ) {
                 _idle_throttle += 0.001f;
                 if (_control_output >= 1.0f) {
                     _idle_throttle = get_idle_output();
-                    gcs().send_text(MAV_SEVERITY_INFO, "Turbine startup");
+                    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Turbine startup");
                     _starting = false;
                 }
             } else {
@@ -408,7 +408,7 @@ void AP_MotorsHeli_RSC::update_rotor_ramp(float rotor_ramp_input, float dt)
     if (_rotor_ramp_output < rotor_ramp_input) {
         if (_use_bailout_ramp) {
             if (!_bailing_out) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "bailing_out");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "bailing_out");
                 _bailing_out = true;
                 if (_control_mode == ROTOR_CONTROL_MODE_AUTOTHROTTLE) {_gov_bailing_out = true;}
             }
@@ -563,9 +563,9 @@ void AP_MotorsHeli_RSC::autothrottle_run()
                 governor_reset();
                 _governor_fault = true;
                 if (_rotor_rpm >= (_governor_rpm + _governor_range)) {
-                    gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
+                    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
                 } else {
-                    gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Underspeed");
+                    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Underspeed");
                 }
             }
         } else {
@@ -577,7 +577,7 @@ void AP_MotorsHeli_RSC::autothrottle_run()
         if (_rotor_rpm > (_governor_rpm + _governor_range) && !_gov_bailing_out) {
             _governor_fault = true;
             governor_reset();
-            gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
+            GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
             _governor_output = 0.0f;
 
         // when performing power recovery from autorotation, this waits for user to load rotor in order to 
@@ -594,7 +594,7 @@ void AP_MotorsHeli_RSC::autothrottle_run()
                 _governor_engage = true;
                 _autothrottle = true;
                 _gov_bailing_out = false;
-                gcs().send_text(MAV_SEVERITY_NOTICE, "Governor Engaged");
+                GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Governor Engaged");
             }
         } else {
             // temporary use of throttle curve and ramp timer to accelerate rotor to governor min torque rise speed

libraries/AP_OSD/AP_OSD_MSP_DisplayPort.cpp

@@ -39,12 +39,12 @@ bool AP_OSD_MSP_DisplayPort::init(void)
     // check if we have a DisplayPort backend to use
     const AP_MSP *msp = AP::msp();
     if (msp == nullptr) {
-        gcs().send_text(MAV_SEVERITY_WARNING,"MSP backend not available");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING,"MSP backend not available");
         return false;
     }
     _displayport = msp->find_protocol(AP_SerialManager::SerialProtocol_MSP_DisplayPort);
     if (_displayport == nullptr) {
-        gcs().send_text(MAV_SEVERITY_WARNING,"MSP DisplayPort uart not available");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING,"MSP DisplayPort uart not available");
         return false;
     }
     // re-init port here for use in this thread

libraries/AP_SmartRTL/AP_SmartRTL.cpp

@@ -118,7 +118,7 @@ void AP_SmartRTL::init()
     // check if memory allocation failed
     if (_path == nullptr || _prune.loops == nullptr || _simplify.stack == nullptr) {
         log_action(SRTL_DEACTIVATED_INIT_FAILED);
-        gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL deactivated: init failed");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "SmartRTL deactivated: init failed");
         free(_path);
         free(_prune.loops);
         free(_simplify.stack);
@@ -390,7 +390,7 @@ void AP_SmartRTL::run_background_cleanup()
     // warn if buffer is about to be filled
     uint32_t now_ms = AP_HAL::millis();
     if ((path_points_count >0) && (path_points_count >= _path_points_max - 9) && (now_ms - _last_low_space_notify_ms > 10000)) {
-        gcs().send_text(MAV_SEVERITY_INFO, "SmartRTL Low on space!");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "SmartRTL Low on space!");
        _last_low_space_notify_ms = now_ms;
     }
 
@@ -866,7 +866,7 @@ void AP_SmartRTL::deactivate(SRTL_Actions action, const char *reason)
 {
     _active = false;
     log_action(action);
-    gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL deactivated: %s", reason);
+    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "SmartRTL deactivated: %s", reason);
 }
 
 // logging

libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp

@@ -36,6 +36,7 @@ bool AP_VisualOdom_Backend::healthy() const
     return ((AP_HAL::millis() - _last_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
 }
 
+#if HAL_GCS_ENABLED
 // consume vision_position_delta mavlink messages
 void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_message_t &msg)
 {
@@ -69,6 +70,7 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
                                   position_delta,
                                   packet.confidence);
 }
+#endif  // HAL_GCS_ENABLED
 
 // returns the system time of the last reset if reset_counter has not changed
 // updates the reset timestamp to the current system time if the reset_counter has changed

libraries/AP_VisualOdom/AP_VisualOdom_Backend.h

@@ -27,8 +27,10 @@ class AP_VisualOdom_Backend
     // return true if sensor is basically healthy (we are receiving data)
     bool healthy() const;
 
+#if HAL_GCS_ENABLED
     // consume vision_position_delta mavlink messages
     void handle_vision_position_delta_msg(const mavlink_message_t &msg);
+#endif
 
     // consume vision pose estimate data and send to EKF. distances in meters
     virtual void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter) = 0;