From 3010114adbfb3251551a0bf479985c341a5cd996 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Fri, 25 Nov 2016 22:55:35 -0500
Subject: [PATCH] Sub: Disable CH6 Tuning

---
 ArduSub/ArduSub.cpp    | 2 ++
 ArduSub/Parameters.cpp | 2 ++
 ArduSub/Parameters.h   | 2 ++
 ArduSub/Sub.h          | 2 ++
 ArduSub/config.h       | 8 ++++++++
 ArduSub/tuning.cpp     | 3 ++-
 6 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 7e0a5bdd13..0c82ee5118 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -465,8 +465,10 @@ void Sub::three_hz_loop()
 
     update_events();
 
+#if CH6_TUNE_ENABLED == ENABLED
     // update ch6 in flight tuning
     tuning();
+#endif
 }
 
 // one_hz_loop - runs at 1Hz
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index e856c4a04d..7e4096b503 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -366,6 +366,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle, 9:Disabled
     GSCALAR(esc_calibrate, "ESC_CALIBRATION",       0),
 
+#if CH6_TUNE_ENABLED == ENABLED
     // @Param: TUNE
     // @DisplayName: Channel 6 Tuning
     // @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
@@ -386,6 +387,7 @@ const AP_Param::Info Sub::var_info[] = {
     // @User: Standard
     // @Range: 0 32767
     GSCALAR(radio_tuning_high, "TUNE_HIGH",         1000),
+#endif
 
 #if AUXSW_ENABLED == ENABLED
     // @Param: CH7_OPT
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index 4e2c8ff409..8bc2a1eedd 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -343,9 +343,11 @@ public:
     //
     AP_Int32        log_bitmask;
     AP_Int8         esc_calibrate;
+#if CH6_TUNE_ENABLED == ENABLED
     AP_Int8         radio_tuning;
     AP_Int16        radio_tuning_high;
     AP_Int16        radio_tuning_low;
+#endif
     AP_Int8         ch7_option;
     AP_Int8         ch8_option;
     AP_Int8         ch9_option;
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index aad3f30dce..e90cb894ab 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -859,7 +859,9 @@ private:
     void check_usb_mux(void);
     bool should_log(uint32_t mask);
     void print_hit_enter();
+#if CH6_TUNE_ENABLED == ENABLED
     void tuning();
+#endif
     void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
     bool start_command(const AP_Mission::Mission_Command& cmd);
     bool verify_command(const AP_Mission::Mission_Command& cmd);
diff --git a/ArduSub/config.h b/ArduSub/config.h
index ff76676947..da4fbc3a83 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -86,6 +86,14 @@
    #   define RC_FAST_SPEED 490
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Channel 6 Tuning
+//
+
+#ifndef CH6_TUNE_ENABLED
+# define CH6_TUNE_ENABLED DISABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Aux Switches
 //
diff --git a/ArduSub/tuning.cpp b/ArduSub/tuning.cpp
index 5ca974ad1d..cd42ef3e0e 100644
--- a/ArduSub/tuning.cpp
+++ b/ArduSub/tuning.cpp
@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
 #include "Sub.h"
+#if CH6_TUNE_ENABLED == ENABLED
 
 /*
  * tuning.pde - function to update various parameters in flight using the ch6 tuning knob
@@ -190,3 +190,4 @@ void Sub::tuning() {
          break;
     }
 }
+#endif