GPS can now be conditionally compiled in.

src/main/config/config.c

@@ -132,6 +132,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->H_level = 3.0f;
 }
 
+#ifdef GPS
 void resetGpsProfile(gpsProfile_t *gpsProfile)
 {
     gpsProfile->gps_wp_radius = 200;
@@ -142,6 +143,7 @@ void resetGpsProfile(gpsProfile_t *gpsProfile)
     gpsProfile->nav_speed_max = 300;
     gpsProfile->ap_mode = 40;
 }
+#endif
 
 void resetBarometerConfig(barometerConfig_t *barometerConfig)
 {
@@ -257,9 +259,11 @@ static void resetConf(void)
     masterConfig.motor_pwm_rate = 400;
     masterConfig.servo_pwm_rate = 50;
 
+#ifdef GPS
     // gps/nav stuff
     masterConfig.gpsConfig.provider = GPS_NMEA;
     masterConfig.gpsConfig.sbasMode = SBAS_AUTO;
+#endif
 
     resetSerialConfig(&masterConfig.serialConfig);
 
@@ -323,7 +327,9 @@ static void resetConf(void)
     // gimbal
     currentProfile.gimbalConfig.gimbal_flags = GIMBAL_NORMAL;
 
+#ifdef GPS
     resetGpsProfile(&currentProfile.gpsProfile);
+#endif
 
     // custom mixer. clear by defaults.
     for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
@@ -376,8 +382,10 @@ void activateConfig(void)
     useGyroConfig(&masterConfig.gyroConfig);
     useTelemetryConfig(&masterConfig.telemetryConfig);
     setPIDController(currentProfile.pidController);
+#ifdef GPS
     gpsUseProfile(&currentProfile.gpsProfile);
     gpsUsePIDs(&currentProfile.pidProfile);
+#endif
     useFailsafeConfig(&currentProfile.failsafeConfig);
     setAccelerationTrims(&masterConfig.accZero);
     mixerUseConfigs(

src/main/config/config_master.h

@@ -64,7 +64,9 @@ typedef struct master_t {
     airplaneConfig_t airplaneConfig;
     int8_t fixedwing_althold_dir;           // +1 or -1 for pitch/althold gain. later check if need more than just sign
 
+#ifdef GPS
     gpsConfig_t gpsConfig;
+#endif
 
     serialConfig_t serialConfig;
 

src/main/config/config_profile.h

@@ -64,5 +64,7 @@ typedef struct profile_s {
     // gimbal-related configuration
     gimbalConfig_t gimbalConfig;
 
+#ifdef GPS
     gpsProfile_t gpsProfile;
+#endif
 } profile_t;

src/main/flight/flight.c

@@ -102,9 +102,13 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
             AngleRate = (float)((controlRateConfig->yawRate + 10) * rcCommand[YAW]) / 50.0f;
          } else {
             // calculate error and limit the angle to the max inclination
+#ifdef GPS
             errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
-
+#else
+            errorAngle = (constrain(rcCommand[axis], -((int) max_angle_inclination),
+                    +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
+#endif
             if (shouldAutotune()) {
                 errorAngle = autotune(rcAliasToAngleIndexMap[axis], &inclination, errorAngle);
             }
@@ -174,8 +178,13 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
     for (axis = 0; axis < 3; axis++) {
         if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
             // observe max inclination
+#ifdef GPS
             errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
+#else
+            errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
+                    +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis];
+#endif
 
             if (shouldAutotune()) {
                 errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
@@ -243,9 +252,13 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
             AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[YAW]) >> 5);
         } else {
             // calculate error and limit the angle to max configured inclination
-            errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int) max_angle_inclination),
+#ifdef GPS
+            errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
                     +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
-
+#else
+            errorAngle = constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
+                    +max_angle_inclination) - inclination.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
+#endif
             if (shouldAutotune()) {
                 errorAngle = DEGREES_TO_DECIDEGREES(autotune(rcAliasToAngleIndexMap[axis], &inclination, DECIDEGREES_TO_DEGREES(errorAngle)));
             }

src/main/io/beeper.c

@@ -58,7 +58,9 @@ void beepcodeInit(failsafe_t *initialFailsafe)
 void beepcodeUpdateState(bool warn_vbat)
 {
     static uint8_t beeperOnBox;
+#ifdef GPS
     static uint8_t warn_noGPSfix = 0;
+#endif
     static failsafeBeeperWarnings_e warn_failsafe = FAILSAFE_IDLE;
 
     //=====================  BeeperOn via rcOptions =====================
@@ -86,6 +88,7 @@ void beepcodeUpdateState(bool warn_vbat)
         }
     }
 
+#ifdef GPS
     //===================== GPS fix notification handling =====================
     if (sensors(SENSOR_GPS)) {
         if ((rcOptions[BOXGPSHOME] || rcOptions[BOXGPSHOLD]) && !f.GPS_FIX) {     // if no fix and gps funtion is activated: do warning beeps
@@ -94,6 +97,7 @@ void beepcodeUpdateState(bool warn_vbat)
             warn_noGPSfix = 0;
         }
     }
+#endif
 
     //===================== Priority driven Handling =====================
     // beepcode(length1,length2,length3,pause)
@@ -102,8 +106,10 @@ void beepcodeUpdateState(bool warn_vbat)
         beep_code('L','N','N','D');                 // failsafe "find me" signal
     else if (warn_failsafe == 1)
         beep_code('S','M','L','M');                 // failsafe landing active
+#ifdef GPS
     else if (warn_noGPSfix == 1)
         beep_code('S','S','N','M');
+#endif
     else if (beeperOnBox == 1)
         beep_code('S','S','S','M');                 // beeperon
     else if (warn_vbat)

src/main/io/gps.c

@@ -15,6 +15,7 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+
 #include <stdbool.h>
 #include <stdint.h>
 #include <ctype.h>
@@ -45,6 +46,8 @@
 #include "gps_conversion.h"
 #include "io/gps.h"
 
+#ifdef GPS
+
 extern int16_t debug[4];
 
 
@@ -647,7 +650,7 @@ static void gpsNewData(uint16_t c)
                     }
                     break;
                 default:
-                    ;
+                    break;
                 }
             }                   //end of gps calcs
         }
@@ -1460,3 +1463,4 @@ void updateGpsIndicator(uint32_t currentTime)
         LED1_TOGGLE;
     }
 }
+#endif

src/main/io/gps_conversion.c

@@ -20,6 +20,10 @@
 #include <ctype.h>
 #include <string.h>
 
+#include "platform.h"
+
+#ifdef GPS
+
 
 #define DIGIT_TO_VAL(_x)    (_x - '0')
 uint32_t GPS_coord_to_degrees(char* coordinateString)
@@ -61,3 +65,4 @@ uint32_t GPS_coord_to_degrees(char* coordinateString)
     }
     return degress * 10000000UL + (minutes * 1000000UL + fractionalMinutes * 100UL) / 6;
 }
+#endif

src/main/io/rc_controls.c

@@ -113,12 +113,18 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
     if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
         // GYRO calibration
         gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
-        if (feature(FEATURE_GPS))
+
+#ifdef GPS
+        if (feature(FEATURE_GPS)) {
             GPS_reset_home_position();
+        }
+#endif
+
 #ifdef BARO
         if (sensors(SENSOR_BARO))
             baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
 #endif
+
         if (!sensors(SENSOR_MAG))
             heading = 0; // reset heading to zero after gyro calibration
 

src/main/io/serial_cli.c

@@ -67,7 +67,9 @@ static void cliDefaults(char *cmdline);
 static void cliDump(char *cmdLine);
 static void cliExit(char *cmdline);
 static void cliFeature(char *cmdline);
+#ifdef GPS
 static void cliGpsPassthrough(char *cmdline);
+#endif
 static void cliHelp(char *cmdline);
 static void cliMap(char *cmdline);
 static void cliMixer(char *cmdline);
@@ -130,7 +132,9 @@ const clicmd_t cmdTable[] = {
     { "dump", "print configurable settings in a pastable form", cliDump },
     { "exit", "", cliExit },
     { "feature", "list or -val or val", cliFeature },
+#ifdef GPS
     { "gpspassthrough", "passthrough gps to serial", cliGpsPassthrough },
+#endif
     { "help", "", cliHelp },
     { "map", "mapping of rc channel order", cliMap },
     { "mixer", "mixer name or list", cliMixer },
@@ -199,12 +203,31 @@ const clivalue_t valueTable[] = {
     { "reboot_character", VAR_UINT8, &masterConfig.serialConfig.reboot_character, 48, 126 },
     { "msp_baudrate", VAR_UINT32, &masterConfig.serialConfig.msp_baudrate, 1200, 115200 },
     { "cli_baudrate", VAR_UINT32, &masterConfig.serialConfig.cli_baudrate, 1200, 115200 },
+
+#ifdef GPS
     { "gps_baudrate", VAR_UINT32, &masterConfig.serialConfig.gps_baudrate, 0, 115200 },
     { "gps_passthrough_baudrate", VAR_UINT32, &masterConfig.serialConfig.gps_passthrough_baudrate, 1200, 115200 },
 
     { "gps_provider", VAR_UINT8, &masterConfig.gpsConfig.provider, 0, GPS_PROVIDER_MAX },
     { "gps_sbas_mode", VAR_UINT8, &masterConfig.gpsConfig.sbasMode, 0, SBAS_MODE_MAX },
 
+
+    { "gps_pos_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDPOS], 0, 200 },
+    { "gps_pos_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDPOS], 0, 200 },
+    { "gps_pos_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDPOS], 0, 200 },
+    { "gps_posr_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDPOSR], 0, 200 },
+    { "gps_posr_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDPOSR], 0, 200 },
+    { "gps_posr_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDPOSR], 0, 200 },
+    { "gps_nav_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDNAVR], 0, 200 },
+    { "gps_nav_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDNAVR], 0, 200 },
+    { "gps_nav_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDNAVR], 0, 200 },
+    { "gps_wp_radius", VAR_UINT16, &currentProfile.gpsProfile.gps_wp_radius, 0, 2000 },
+    { "nav_controls_heading", VAR_UINT8, &currentProfile.gpsProfile.nav_controls_heading, 0, 1 },
+    { "nav_speed_min", VAR_UINT16, &currentProfile.gpsProfile.nav_speed_min, 10, 2000 },
+    { "nav_speed_max", VAR_UINT16, &currentProfile.gpsProfile.nav_speed_max, 10, 2000 },
+    { "nav_slew_rate", VAR_UINT8, &currentProfile.gpsProfile.nav_slew_rate, 0, 100 },
+#endif
+
     { "serialrx_provider", VAR_UINT8, &masterConfig.rxConfig.serialrx_provider, 0, SERIALRX_PROVIDER_MAX },
 
     { "telemetry_provider", VAR_UINT8, &masterConfig.telemetryConfig.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
@@ -279,21 +302,6 @@ const clivalue_t valueTable[] = {
 
     { "mag_declination", VAR_INT16, &currentProfile.mag_declination, -18000, 18000 },
 
-    { "gps_pos_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDPOS], 0, 200 },
-    { "gps_pos_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDPOS], 0, 200 },
-    { "gps_pos_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDPOS], 0, 200 },
-    { "gps_posr_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDPOSR], 0, 200 },
-    { "gps_posr_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDPOSR], 0, 200 },
-    { "gps_posr_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDPOSR], 0, 200 },
-    { "gps_nav_p", VAR_UINT8, &currentProfile.pidProfile.P8[PIDNAVR], 0, 200 },
-    { "gps_nav_i", VAR_UINT8, &currentProfile.pidProfile.I8[PIDNAVR], 0, 200 },
-    { "gps_nav_d", VAR_UINT8, &currentProfile.pidProfile.D8[PIDNAVR], 0, 200 },
-    { "gps_wp_radius", VAR_UINT16, &currentProfile.gpsProfile.gps_wp_radius, 0, 2000 },
-    { "nav_controls_heading", VAR_UINT8, &currentProfile.gpsProfile.nav_controls_heading, 0, 1 },
-    { "nav_speed_min", VAR_UINT16, &currentProfile.gpsProfile.nav_speed_min, 10, 2000 },
-    { "nav_speed_max", VAR_UINT16, &currentProfile.gpsProfile.nav_speed_max, 10, 2000 },
-    { "nav_slew_rate", VAR_UINT8, &currentProfile.gpsProfile.nav_slew_rate, 0, 100 },
-
     { "pid_controller", VAR_UINT8, &currentProfile.pidController, 0, 2 },
 
     { "p_pitch", VAR_UINT8, &currentProfile.pidProfile.P8[PITCH], 0, 200 },
@@ -606,12 +614,27 @@ static void cliFeature(char *cmdline)
                 cliPrint("Invalid feature name...\r\n");
                 break;
             }
+
             if (strncasecmp(cmdline, featureNames[i], len) == 0) {
+
+                mask = 1 << i;
+#ifndef GPS
+                if (mask & FEATURE_GPS) {
+                    cliPrint("GPS unavailable\r\n");
+                    break;
+                }
+#endif
+#ifndef SONAR
+                if (mask & FEATURE_SONAR) {
+                    cliPrint("SONAR unavailable\r\n");
+                    break;
+                }
+#endif
                 if (remove) {
-                    featureClear(1 << i);
+                    featureClear(mask);
                     cliPrint("Disabled ");
                 } else {
-                    featureSet(1 << i);
+                    featureSet(mask);
                     cliPrint("Enabled ");
                 }
                 printf("%s\r\n", featureNames[i]);
@@ -621,6 +644,7 @@ static void cliFeature(char *cmdline)
     }
 }
 
+#ifdef GPS
 static void cliGpsPassthrough(char *cmdline)
 {
     gpsEnablePassthroughResult_e result = gpsEnablePassthrough();
@@ -638,6 +662,7 @@ static void cliGpsPassthrough(char *cmdline)
             break;
     }
 }
+#endif
 
 static void cliHelp(char *cmdline)
 {

src/main/io/serial_msp.c

@@ -369,10 +369,12 @@ void mspInit(serialConfig_t *serialConfig)
     if (feature(FEATURE_SERVO_TILT))
         availableBoxes[idx++] = BOXCAMSTAB;
 
+#ifdef GPS
     if (feature(FEATURE_GPS)) {
         availableBoxes[idx++] = BOXGPSHOME;
         availableBoxes[idx++] = BOXGPSHOLD;
     }
+#endif
 
     if (masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING || masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE)
         availableBoxes[idx++] = BOXPASSTHRU;
@@ -397,8 +399,10 @@ void mspInit(serialConfig_t *serialConfig)
 static void evaluateCommand(void)
 {
     uint32_t i, tmp, junk;
+#ifdef GPS
     uint8_t wp_no;
     int32_t lat = 0, lon = 0, alt = 0;
+#endif
 
     switch (cmdMSP) {
     case MSP_SET_RAW_RC:
@@ -413,6 +417,7 @@ static void evaluateCommand(void)
         currentProfile.accelerometerTrims.values.roll  = read16();
         headSerialReply(0);
         break;
+#ifdef GPS
     case MSP_SET_RAW_GPS:
         f.GPS_FIX = read8();
         GPS_numSat = read8();
@@ -423,6 +428,7 @@ static void evaluateCommand(void)
         GPS_update |= 2;        // New data signalisation to GPS functions
         headSerialReply(0);
         break;
+#endif
     case MSP_SET_PID:
         if (currentProfile.pidController == 2) {
             for (i = 0; i < 3; i++) {
@@ -609,6 +615,7 @@ static void evaluateCommand(void)
         for (i = 0; i < rxRuntimeConfig.channelCount; i++)
             serialize16(rcData[i]);
         break;
+#ifdef GPS
     case MSP_RAW_GPS:
         headSerialReply(16);
         serialize8(f.GPS_FIX);
@@ -625,6 +632,7 @@ static void evaluateCommand(void)
         serialize16(GPS_directionToHome);
         serialize8(GPS_update & 1);
         break;
+#endif
     case MSP_ATTITUDE:
         headSerialReply(6);
         for (i = 0; i < 2; i++)
@@ -723,6 +731,7 @@ static void evaluateCommand(void)
         for (i = 0; i < 8; i++)
             serialize8(i + 1);
         break;
+#ifdef GPS
     case MSP_WP:
         wp_no = read8();    // get the wp number
         headSerialReply(18);
@@ -766,6 +775,7 @@ static void evaluateCommand(void)
         }
         headSerialReply(0);
         break;
+#endif /* GPS */
     case MSP_RESET_CONF:
         if (!f.ARMED) {
             resetEEPROM();
@@ -813,6 +823,7 @@ static void evaluateCommand(void)
         serialize32(U_ID_1);
         serialize32(U_ID_2);
         break;
+#ifdef GPS
     case MSP_GPSSVINFO:
         headSerialReply(1 + (GPS_numCh * 4));
         serialize8(GPS_numCh);
@@ -823,6 +834,7 @@ static void evaluateCommand(void)
                serialize8(GPS_svinfo_cno[i]);
             }
         break;
+#endif
     default:                   // we do not know how to handle the (valid) message, indicate error MSP $M!
         headSerialError(0);
         break;

src/main/main.c

@@ -215,6 +215,7 @@ void init(void)
     beepcodeInit(failsafe);
     rxInit(&masterConfig.rxConfig, failsafe);
 
+#ifdef GPS
     if (feature(FEATURE_GPS)) {
         gpsInit(
             &masterConfig.serialConfig,
@@ -223,6 +224,7 @@ void init(void)
             &currentProfile.pidProfile
         );
     }
+#endif
 
 #ifdef SONAR
     if (feature(FEATURE_SONAR)) {

src/main/mw.c

@@ -278,9 +278,11 @@ void annexCode(void)
 
     handleSerial();
 
+#ifdef GPS
     if (sensors(SENSOR_GPS)) {
         updateGpsIndicator(currentTime);
     }
+#endif
 
     // Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
     if (gyro.temperature)
@@ -409,6 +411,7 @@ void executePeriodicTasks(void)
         break;
 #endif
 
+#ifdef GPS
     case UPDATE_GPS_TASK:
         // if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
         // hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
@@ -417,6 +420,7 @@ void executePeriodicTasks(void)
             gpsThread();
         }
         break;
+#endif
 #ifdef SONAR
     case UPDATE_SONAR_TASK:
         if (sensors(SENSOR_SONAR)) {
@@ -539,9 +543,11 @@ void processRx(void)
     }
 #endif
 
+#ifdef GPS
     if (sensors(SENSOR_GPS)) {
         updateGpsWaypointsAndMode();
     }
+#endif
 
     if (rcOptions[BOXPASSTHRU]) {
         f.PASSTHRU_MODE = 1;
@@ -615,11 +621,13 @@ void loop(void)
             rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile.throttle_correction_value);
         }
 
+#ifdef GPS
         if (sensors(SENSOR_GPS)) {
             if ((f.GPS_HOME_MODE || f.GPS_HOLD_MODE) && f.GPS_FIX_HOME) {
                 updateGpsStateForHomeAndHoldMode();
             }
         }
+#endif
 
         // PID - note this is function pointer set by setPIDController()
         pid_controller(

src/main/target/CHEBUZZF3/target.h

@@ -39,5 +39,6 @@
 #define BEEPER
 #define LED0
 #define LED1
+#define GPS
 
 #define SENSORS_SET (SENSOR_ACC)

src/main/target/NAZE/target.h

@@ -40,6 +40,7 @@
 #define BEEPER
 #define LED0
 #define LED1
+#define GPS
 
 // #define SOFT_I2C // enable to test software i2c
 // #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)

src/main/target/NAZE32PRO/target.h

@@ -29,5 +29,6 @@
 
 #define GYRO
 #define ACC
+#define GPS
 
 #define SENSORS_SET (SENSOR_ACC)

src/main/target/OLIMEXINO/target.h

@@ -39,6 +39,7 @@
 #define BARO
 #define GYRO
 #define MAG
+#define GPS
 
 // #define SOFT_I2C // enable to test software i2c
 // #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)

src/main/target/STM32F3DISCOVERY/target.h

@@ -41,5 +41,6 @@
 #define BEEPER
 #define LED0
 #define LED1
+#define GPS
 
 #define SENSORS_SET (SENSOR_ACC)

src/main/telemetry/frsky.c

@@ -167,6 +167,7 @@ static void sendTime(void)
     serialize16(seconds % 60);
 }
 
+#ifdef GPS
 // Frsky pdf: dddmm.mmmm
 // .mmmm is returned in decimal fraction of minutes.
 static void GPStoDDDMM_MMMM(int32_t mwiigps, gpsCoordinateDDDMMmmmm_t *result)
@@ -200,6 +201,8 @@ static void sendGPS(void)
     sendDataHead(ID_E_W);
     serialize16(GPS_coord[LON] < 0 ? 'W' : 'E');
 }
+#endif
+
 
 /*
  * Send vertical speed for opentx. ID_VERT_SPEED
@@ -362,8 +365,10 @@ void handleFrSkyTelemetry(void)
             sendVoltageAmp();
         }
 
+#ifdef GPS
         if (sensors(SENSOR_GPS))
             sendGPS();
+#endif
 
         sendTelemetryTail();
     }

src/main/telemetry/hott.c

@@ -105,13 +105,6 @@ static telemetryConfig_t *telemetryConfig;
 static HOTT_GPS_MSG_t hottGPSMessage;
 static HOTT_EAM_MSG_t hottEAMMessage;
 
-typedef enum {
-    GPS_FIX_CHAR_NONE = '-',
-    GPS_FIX_CHAR_2D = '2',
-    GPS_FIX_CHAR_3D = '3',
-    GPS_FIX_CHAR_DGPS = 'D',
-} gpsFixChar_e;
-
 static void initialiseEAMMessage(HOTT_EAM_MSG_t *msg, size_t size)
 {
     memset(msg, 0, size);
@@ -121,6 +114,14 @@ static void initialiseEAMMessage(HOTT_EAM_MSG_t *msg, size_t size)
     msg->stop_byte = 0x7D;
 }
 
+#ifdef GPS
+typedef enum {
+    GPS_FIX_CHAR_NONE = '-',
+    GPS_FIX_CHAR_2D = '2',
+    GPS_FIX_CHAR_3D = '3',
+    GPS_FIX_CHAR_DGPS = 'D',
+} gpsFixChar_e;
+
 static void initialiseGPSMessage(HOTT_GPS_MSG_t *msg, size_t size)
 {
     memset(msg, 0, size);
@@ -129,13 +130,17 @@ static void initialiseGPSMessage(HOTT_GPS_MSG_t *msg, size_t size)
     msg->sensor_id = HOTT_GPS_SENSOR_TEXT_ID;
     msg->stop_byte = 0x7D;
 }
+#endif
 
 static void initialiseMessages(void)
 {
     initialiseEAMMessage(&hottEAMMessage, sizeof(hottEAMMessage));
+#ifdef GPS
     initialiseGPSMessage(&hottGPSMessage, sizeof(hottGPSMessage));
+#endif
 }
 
+#ifdef GPS
 void addGPSCoordinates(HOTT_GPS_MSG_t *hottGPSMessage, int32_t latitude, int32_t longitude)
 {
     int16_t deg = latitude / 10000000L;
@@ -195,6 +200,7 @@ void hottPrepareGPSResponse(HOTT_GPS_MSG_t *hottGPSMessage)
 
     hottGPSMessage->home_direction = GPS_directionToHome;
 }
+#endif
 
 static inline void hottEAMUpdateBattery(HOTT_EAM_MSG_t *hottEAMMessage)
 {
@@ -282,7 +288,9 @@ static inline void hottSendEAMResponse(void)
 
 static void hottPrepareMessages(void) {
     hottPrepareEAMResponse(&hottEAMMessage);
+#ifdef GPS
     hottPrepareGPSResponse(&hottGPSMessage);
+#endif
 }
 
 static void processBinaryModeRequest(uint8_t address) {
@@ -294,6 +302,7 @@ static void processBinaryModeRequest(uint8_t address) {
 #endif
 
     switch (address) {
+#ifdef GPS
         case 0x8A:
 #ifdef HOTT_DEBUG
             hottGPSRequests++;
@@ -302,6 +311,7 @@ static void processBinaryModeRequest(uint8_t address) {
                 hottSendGPSResponse();
             }
             break;
+#endif
         case 0x8E:
 #ifdef HOTT_DEBUG
             hottEAMRequests++;
@@ -314,7 +324,9 @@ static void processBinaryModeRequest(uint8_t address) {
 #ifdef HOTT_DEBUG
     hottBinaryRequests++;
     debug[0] = hottBinaryRequests;
+#ifdef GPS
     debug[1] = hottGPSRequests;
+#endif
     debug[2] = hottEAMRequests;
 #endif