Rover: move AC_Avoidance defines into libraries

Rover/AP_Arming.cpp

@@ -88,7 +88,9 @@ bool AP_Arming_Rover::pre_arm_checks(bool report)
 
     return (AP_Arming::pre_arm_checks(report)
             & motor_checks(report)
+#if AP_OAPATHPLANNER_ENABLED
             & oa_check(report)
+#endif
             & parameter_checks(report)
             & mode_checks(report));
 }
@@ -157,6 +159,7 @@ bool AP_Arming_Rover::disarm(const AP_Arming::Method method, bool do_disarm_chec
     return true;
 }
 
+#if AP_OAPATHPLANNER_ENABLED
 // check object avoidance has initialised correctly
 bool AP_Arming_Rover::oa_check(bool report)
 {
@@ -173,6 +176,7 @@ bool AP_Arming_Rover::oa_check(bool report)
     }
     return false;
 }
+#endif  // AP_OAPATHPLANNER_ENABLED
 
 // perform parameter checks
 bool AP_Arming_Rover::parameter_checks(bool report)

Rover/GCS_Mavlink.cpp

@@ -5,6 +5,7 @@
 #include <AP_RPM/AP_RPM_config.h>
 #include <AP_RangeFinder/AP_RangeFinder_Backend.h>
 #include <AP_EFI/AP_EFI_config.h>
+#include <AC_Avoidance/AP_OADatabase.h>
 
 MAV_TYPE GCS_Rover::frame_type() const
 {
@@ -380,6 +381,7 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
         rover.g2.windvane.send_wind(chan);
         break;
 
+#if AP_OADATABASE_ENABLED
     case MSG_ADSB_VEHICLE: {
         AP_OADatabase *oadb = AP::oadatabase();
         if (oadb != nullptr) {
@@ -391,6 +393,7 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
         }
         break;
     }
+#endif
 
     default:
         return GCS_MAVLINK::try_send_message(id);

Rover/Parameters.cpp

@@ -608,9 +608,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: sailboat.cpp
     AP_SUBGROUPINFO(sailboat, "SAIL_", 44, ParametersG2, Sailboat),
 
+#if AP_OAPATHPLANNER_ENABLED
     // @Group: OA_
     // @Path: ../libraries/AC_Avoidance/AP_OAPathPlanner.cpp
     AP_SUBGROUPINFO(oa, "OA_", 45, ParametersG2, AP_OAPathPlanner),
+#endif
 
     // @Param: SPEED_MAX
     // @DisplayName: Speed maximum

Rover/Parameters.h

@@ -397,8 +397,10 @@ class ParametersG2 {
     // Sailboat functions
     Sailboat sailboat;
 
+#if AP_OAPATHPLANNER_ENABLED
     // object avoidance path planning
     AP_OAPathPlanner oa;
+#endif
 
     // maximum speed for vehicle
     AP_Float speed_max;

Rover/system.cpp

@@ -116,8 +116,10 @@ void Rover::init_ardupilot()
     // initialize SmartRTL
     g2.smart_rtl.init();
 
+#if AP_OAPATHPLANNER_ENABLED
     // initialise object avoidance
     g2.oa.init();
+#endif
 
     startup_ground();