AP_DDS: configuration fixes

[srmainwaring]

Miscellaneous fixes to ensure that the various enable options in AP_DDS_config.h work as intended.

Motivation

• Building for ESP32 S3 with minimal capabilities (i.e. only topics /ap/clock and ap/time enabled) is failing due to indexing errors in to the topic table and unused variables.

Details

• Replace use of #ifdef with #if for *_ENABLED options.
• Exclude quaternion helper function when not required.
• Additional exclude option for HAL_BOARD_ESP32.
• Resolve uninitialised variable error observed when compiling with the esp-idf toolchain.

Testing

• Standard SITL build and test ok.
• Excluding all topics and services apart from /ap/clock and /ap/time in an esp32s3empty build compiles correctly.
• Note: DDS is not currently running on ESP32 due to other issues (unrelated to this PR).

Extract from esp32s3empty.h configured for a minimal DDS build

// DDS
#define AP_DDS_VISUALODOM_ENABLED 0

#define AP_DDS_EXPERIMENTAL_ENABLED 0

#define AP_DDS_AIRSPEED_PUB_ENABLED 0
#define AP_DDS_CLOCK_PUB_ENABLED 1
#define AP_DDS_BATTERY_STATE_PUB_ENABLED 0
#define AP_DDS_GEOPOSE_PUB_ENABLED 0
#define AP_DDS_GLOBAL_POS_CTRL_ENABLED 0
#define AP_DDS_GOAL_PUB_ENABLED 0
#define AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED 0
#define AP_DDS_IMU_PUB_ENABLED 0
#define AP_DDS_LOCAL_POSE_PUB_ENABLED 0
#define AP_DDS_LOCAL_VEL_PUB_ENABLED 0
#define AP_DDS_NAVSATFIX_PUB_ENABLED 0
#define AP_DDS_STATUS_PUB_ENABLED 0
#define AP_DDS_STATIC_TF_PUB_ENABLED 0
#define AP_DDS_TIME_PUB_ENABLED 1
#define AP_DDS_VEL_CTRL_ENABLED 0

#define AP_DDS_JOY_SUB_ENABLED 0
#define AP_DDS_DYNAMIC_TF_SUB_ENABLED 0

#define AP_DDS_ARM_SERVER_ENABLED 0
#define AP_DDS_VTOL_TAKEOFF_SERVER_ENABLED 0
#define AP_DDS_PARAMETER_SERVER_ENABLED 0
#define AP_DDS_ARM_CHECK_SERVER_ENABLED 0

[Ryanf55]

Awesome thanks. These all look good. Please squash.

[srmainwaring]

Found another issue which I've also added a fix for: AP_DDS_GOAL_PUB_ENABLED must also have AP_SCRIPTING_ENABLED as it depends on a scripting API in AP_Vehicle.

[Ryanf55]

LGTM.

[peterbarker]

If scripting is a requirement for AP_DDS_GOAL_PUB_ENABLED then that should have been reflected in setting the defaults for the feature define in AP_DDS_config.h.

[Ryanf55]

Try #29014