From 115ed491c0ddc33a81d44bfa0dcea0f2d8739951 Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar Do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Thu, 15 Mar 2018 13:39:26 +0100
Subject: [PATCH] Copter: Obey RANGEFINDER_ENABLED, AUTOTUNE_ENABLED and
 AC_TERRAIN build macros

---
 ArduCopter/Parameters.cpp | 6 ++++++
 ArduCopter/Parameters.h   | 7 +++++++
 ArduCopter/tuning.cpp     | 2 ++
 3 files changed, 15 insertions(+)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 9d973195a5..2b8d28a78c 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -169,6 +169,7 @@ const AP_Param::Info Copter::var_info[] = {
     GSCALAR(rtl_loiter_time,      "RTL_LOIT_TIME",    RTL_LOITER_TIME),
 #endif
 
+#if RANGEFINDER_ENABLED == ENABLED
     // @Param: RNGFND_GAIN
     // @DisplayName: Rangefinder gain
     // @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter
@@ -176,6 +177,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Increment: 0.01
     // @User: Standard
     GSCALAR(rangefinder_gain, "RNGFND_GAIN", RANGEFINDER_GAIN_DEFAULT),
+#endif
 
     // @Param: FS_BATT_ENABLE
     // @DisplayName: Battery Failsafe Enable
@@ -777,6 +779,7 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(avoidance_adsb, "AVD_", AP_Avoidance_Copter),
 #endif
 
+#if AUTOTUNE_ENABLED == ENABLED
     // @Param: AUTOTUNE_AXES
     // @DisplayName: Autotune axis bitmask
     // @Description: 1-byte bitmap of axes to autotune
@@ -798,6 +801,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Range: 0.001 0.006
     // @User: Standard
     GSCALAR(autotune_min_d, "AUTOTUNE_MIN_D", 0.001f),
+#endif
 
     // @Group: NTF_
     // @Path: ../libraries/AP_Notify/AP_Notify.cpp
@@ -812,12 +816,14 @@ const AP_Param::Info Copter::var_info[] = {
     GSCALAR(throw_motor_start, "THROW_MOT_START", 0),
 #endif
 
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
     // @Param: TERRAIN_FOLLOW
     // @DisplayName: Terrain Following use control
     // @Description: This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must  support sending terrain data to the aircraft.  In RTL the RTL_ALT will be considered a height above the terrain.  In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home).  This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain.
     // @Values: 0:Do Not Use in RTL and Land,1:Use in RTL and Land
     // @User: Standard
     GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0),
+#endif
 
     // @Group:
     // @Path: Parameters.cpp
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 8333dc9bcb..51576fe60c 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -390,7 +390,9 @@ public:
     AP_Int16        rtl_altitude;
     AP_Int16        rtl_speed_cms;
     AP_Float        rtl_cone_slope;
+#if RANGEFINDER_ENABLED == ENABLED
     AP_Float        rangefinder_gain;
+#endif
 
     AP_Int8         failsafe_battery_enabled;   // battery failsafe enabled
     AP_Float        fs_batt_voltage;            // battery voltage below which failsafe will be triggered
@@ -460,7 +462,10 @@ public:
 #if MODE_THROW_ENABLED == ENABLED
     AP_Int8         throw_motor_start;
 #endif
+
+#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
     AP_Int8         terrain_follow;
+#endif
 
     AP_Int16                rc_speed; // speed of fast RC Channels in Hz
 
@@ -473,9 +478,11 @@ public:
     AP_Float                acro_rp_expo;
 
     // Autotune
+#if AUTOTUNE_ENABLED == ENABLED
     AP_Int8                 autotune_axis_bitmask;
     AP_Float                autotune_aggressiveness;
     AP_Float                autotune_min_d;
+#endif
 
     // Note: keep initializers here in the same order as they are declared
     // above.
diff --git a/ArduCopter/tuning.cpp b/ArduCopter/tuning.cpp
index 30ec7d6de2..9a5a3a95d6 100644
--- a/ArduCopter/tuning.cpp
+++ b/ArduCopter/tuning.cpp
@@ -140,10 +140,12 @@ void Copter::tuning() {
         break;
 #endif
 
+#if RANGEFINDER_ENABLED == ENABLED
     case TUNING_RANGEFINDER_GAIN:
         // set rangefinder gain
         g.rangefinder_gain.set(tuning_value);
         break;
+#endif
 
 #if 0
         // disabled for now - we need accessor functions