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AP_BLHeli,SRV_Channel: allow BLHeli support to be disabled #34065

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AP_BLHeli,SRV_Channel: allow BLHeli support to be disabled #34065

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74d7f28
AP_BLHeli: allow BLHeli support to be disabled
muramura Aug 16, 2026
e7e95a1
SRV_Channel: honor HAVE_AP_BLHELI_SUPPORT
muramura Aug 16, 2026
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6 changes: 4 additions & 2 deletions libraries/AP_BLHeli/AP_BLHeli.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,9 +24,11 @@
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>

#ifndef HAVE_AP_BLHELI_SUPPORT
#define HAVE_AP_BLHELI_SUPPORT HAL_SUPPORT_RCOUT_SERIAL
#endif

#if HAL_SUPPORT_RCOUT_SERIAL
#if HAVE_AP_BLHELI_SUPPORT

#include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>

Expand Down Expand Up @@ -295,4 +297,4 @@ class AP_BLHeli : public AP_ESC_Telem_Backend {
bool protocol_handler(uint8_t , AP_HAL::UARTDriver *);
};

#endif // HAL_SUPPORT_RCOUT_SERIAL
#endif // HAVE_AP_BLHELI_SUPPORT
2 changes: 1 addition & 1 deletion libraries/SRV_Channel/SRV_Channel.h
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Expand Up @@ -661,7 +661,7 @@ class SRV_Channels {
AP_RobotisServo robotis;
#endif

#if HAL_SUPPORT_RCOUT_SERIAL
#if HAVE_AP_BLHELI_SUPPORT
// support for BLHeli protocol
AP_BLHeli blheli;
#endif
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2 changes: 1 addition & 1 deletion libraries/SRV_Channel/SRV_Channel_aux.cpp
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Expand Up @@ -282,7 +282,7 @@ void SRV_Channels::enable_aux_servos()
// propagate channel masks to the ESCS
hal.rcout->update_channel_masks();

#if HAL_SUPPORT_RCOUT_SERIAL
#if HAVE_AP_BLHELI_SUPPORT
blheli.update();
#endif
}
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6 changes: 3 additions & 3 deletions libraries/SRV_Channel/SRV_Channels.cpp
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Expand Up @@ -181,7 +181,7 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
AP_SUBGROUPINFO(sbus, "_SBUS_", 20, SRV_Channels, AP_SBusOut),
#endif

#if HAL_SUPPORT_RCOUT_SERIAL
#if HAVE_AP_BLHELI_SUPPORT
// @Group: _BLH_
// @Path: ../AP_BLHeli/AP_BLHeli.cpp
AP_SUBGROUPINFO(blheli, "_BLH_", 21, SRV_Channels, AP_BLHeli),
Expand Down Expand Up @@ -365,7 +365,7 @@ SRV_Channels::SRV_Channels(void)
void SRV_Channels::init(uint32_t motor_mask, AP_HAL::RCOutput::output_mode mode)
{
// initialize BLHeli late so that all of the masks it might setup don't get trodden on by motor initialization
#if HAL_SUPPORT_RCOUT_SERIAL
#if HAVE_AP_BLHELI_SUPPORT
blheli.init(motor_mask, mode);
#endif
#ifndef HAL_BUILD_AP_PERIPH
Expand Down Expand Up @@ -502,7 +502,7 @@ void SRV_Channels::push()
robotis.update();
#endif

#if HAL_SUPPORT_RCOUT_SERIAL
#if HAVE_AP_BLHELI_SUPPORT
// give blheli telemetry a chance to update
blheli.update_telemetry();
#endif
Expand Down
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