From 3e6e77636090067d6eb5b32f7516b35259d70fc5 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 1 Aug 2014 14:26:10 +0900
Subject: [PATCH] Copter: of-loiter unavailable if OPTFLOW not enabled

of-loiter was small but still present even when optflow was disabled
---
 ArduCopter/ArduCopter.pde       |  2 ++
 ArduCopter/control_ofloiter.pde | 16 ++++------------
 ArduCopter/flight_mode.pde      |  4 ++++
 3 files changed, 10 insertions(+), 12 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index f019be99bf..80621d9cbd 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -584,10 +584,12 @@ static struct   Location current_loc;
 ////////////////////////////////////////////////////////////////////////////////
 // Navigation Roll/Pitch functions
 ////////////////////////////////////////////////////////////////////////////////
+#if OPTFLOW == ENABLED
 // The Commanded ROll from the autopilot based on optical flow sensor.
 static int32_t of_roll;
 // The Commanded pitch from the autopilot based on optical flow sensor. negative Pitch means go forward.
 static int32_t of_pitch;
+#endif // OPTFLOW == ENABLED
 
 
 ////////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/control_ofloiter.pde b/ArduCopter/control_ofloiter.pde
index 0edf8535be..0558d39f05 100644
--- a/ArduCopter/control_ofloiter.pde
+++ b/ArduCopter/control_ofloiter.pde
@@ -4,10 +4,11 @@
  * control_ofloiter.pde - init and run calls for of_loiter (optical flow loiter) flight mode
  */
 
+#if OPTFLOW == ENABLED
+
 // ofloiter_init - initialise ofloiter controller
 static bool ofloiter_init(bool ignore_checks)
 {
-#if OPTFLOW == ENABLED
     if (g.optflow_enabled || ignore_checks) {
 
         // initialize vertical speed and acceleration
@@ -21,9 +22,6 @@ static bool ofloiter_init(bool ignore_checks)
     }else{
         return false;
     }
-#else
-    return false;
-#endif
 }
 
 // ofloiter_run - runs the optical flow loiter controller
@@ -97,7 +95,6 @@ static void ofloiter_run()
 // calculate modified roll/pitch depending upon optical flow calculated position
 static int32_t get_of_roll(int32_t input_roll)
 {
-#if OPTFLOW == ENABLED
     static float tot_x_cm = 0;      // total distance from target
     static uint32_t last_of_roll_update = 0;
     int32_t new_roll = 0;
@@ -131,14 +128,10 @@ static int32_t get_of_roll(int32_t input_roll)
     of_roll = constrain_int32(of_roll, -1000, 1000);
 
     return input_roll+of_roll;
-#else
-    return input_roll;
-#endif
 }
 
 static int32_t get_of_pitch(int32_t input_pitch)
 {
-#if OPTFLOW == ENABLED
     static float tot_y_cm = 0;  // total distance from target
     static uint32_t last_of_pitch_update = 0;
     int32_t new_pitch = 0;
@@ -173,9 +166,6 @@ static int32_t get_of_pitch(int32_t input_pitch)
     of_pitch = constrain_int32(of_pitch, -1000, 1000);
 
     return input_pitch+of_pitch;
-#else
-    return input_pitch;
-#endif
 }
 
 // reset_optflow_I - reset optflow position hold I terms
@@ -186,3 +176,5 @@ static void reset_optflow_I(void)
     of_roll = 0;
     of_pitch = 0;
 }
+
+#endif // OPTFLOW == ENABLED
diff --git a/ArduCopter/flight_mode.pde b/ArduCopter/flight_mode.pde
index 9b53757bdd..35af7ca57a 100644
--- a/ArduCopter/flight_mode.pde
+++ b/ArduCopter/flight_mode.pde
@@ -65,9 +65,11 @@ static bool set_mode(uint8_t mode)
             success = rtl_init(ignore_checks);
             break;
 
+#if OPTFLOW == ENABLED
         case OF_LOITER:
             success = ofloiter_init(ignore_checks);
             break;
+#endif
 
         case DRIFT:
             success = drift_init(ignore_checks);
@@ -169,9 +171,11 @@ static void update_flight_mode()
             rtl_run();
             break;
 
+#if OPTFLOW == ENABLED
         case OF_LOITER:
             ofloiter_run();
             break;
+#endif
 
         case DRIFT:
             drift_run();