From 20719e23fdb5f766d84b611405abf3ca0d80be21 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 27 May 2014 14:43:33 +0900
Subject: [PATCH] Copter: enable PARACHUTE and RALLY for all but APM

---
 ArduCopter/APM_Config.h |  8 +++++---
 ArduCopter/config.h     | 18 ++++--------------
 2 files changed, 9 insertions(+), 17 deletions(-)

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index d992245d08..28b96b7b9d 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -30,12 +30,14 @@
 //#define CONFIG_SONAR          DISABLED            // disable sonar to save 1k of flash
 //#define HYBRID_ENABLED        DISABLED            // disable hybrid flight mode to save 4.5k of flash
 
-// features below are disabled by default
-//#define OPTFLOW               ENABLED             // enable optical flow sensor and OF_LOITER flight mode at a cost of 5K of flash space
+// features below are disabled by default on APM (but enabled on Pixhawk)
 //#define AC_RALLY              ENABLED             // disable rally points to save 2k of flash, and also frees rally point EEPROM for more mission commands
+//#define PARACHUTE             ENABLED             // enable parachute release at a cost of 1k of flash
+
+// features below are disabled by default on all boards
+//#define OPTFLOW               ENABLED             // enable optical flow sensor and OF_LOITER flight mode at a cost of 5K of flash space
 //#define SPRAYER               ENABLED             // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
 //#define EPM_ENABLED           ENABLED             // enable epm cargo gripper costs 500bytes of flash
-//#define PARACHUTE             ENABLED             // enable parachute release at a cost of 1k of flash
 
 // other settings
 //#define THROTTLE_IN_DEADBAND   100                // redefine size of throttle deadband in pwm (0 ~ 1000)
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index fbb22410f3..13b98fb594 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -59,6 +59,8 @@
  # define CONFIG_IMU_TYPE   CONFIG_IMU_MPU6000
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
+ # define PARACHUTE DISABLED
+ # define AC_RALLY DISABLED
  # ifdef APM2_BETA_HARDWARE
   #  define CONFIG_BARO     AP_BARO_BMP085
  # else // APM2 Production Hardware (default)
@@ -69,13 +71,11 @@
  # define CONFIG_IMU_TYPE   CONFIG_IMU_SITL
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
- # define OPTFLOW DISABLED
 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
  # define CONFIG_IMU_TYPE   CONFIG_IMU_PX4
  # define CONFIG_BARO       AP_BARO_PX4
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
- # define OPTFLOW DISABLED
 #elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
  # define CONFIG_IMU_TYPE CONFIG_IMU_FLYMAPLE
  # define CONFIG_BARO AP_BARO_BMP085
@@ -83,7 +83,6 @@
  # define CONFIG_ADC        DISABLED
  # define MAGNETOMETER ENABLED
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
- # define OPTFLOW DISABLED
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
  # define CONFIG_IMU_TYPE CONFIG_IMU_L3G4200D
  # define CONFIG_BARO AP_BARO_BMP085
@@ -91,13 +90,11 @@
  # define CONFIG_ADC        DISABLED
  # define MAGNETOMETER ENABLED
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
- # define OPTFLOW DISABLED
 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
  # define CONFIG_IMU_TYPE   CONFIG_IMU_VRBRAIN
  # define CONFIG_BARO       AP_BARO_VRBRAIN
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
- # define OPTFLOW DISABLED
 #endif
 
 #if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
@@ -144,13 +141,6 @@
   # define RATE_YAW_I                   0.015f
 #endif
 
-
-// optical flow doesn't work in SITL yet
-#ifdef DESKTOP_BUILD
-# define OPTFLOW DISABLED
-#endif
-
-
 //////////////////////////////////////////////////////////////////////////////
 // IMU Selection
 //
@@ -413,7 +403,7 @@
 //////////////////////////////////////////////////////////////////////////////
 // Parachute release
 #ifndef PARACHUTE
- # define PARACHUTE DISABLED
+ # define PARACHUTE ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -753,7 +743,7 @@
 #endif
 
 #ifndef AC_RALLY
- #define AC_RALLY               DISABLED
+ #define AC_RALLY   ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////