From 58cb4cbfb182ad64f62a02c4cc26afd63d3ae69e Mon Sep 17 00:00:00 2001
From: Stephen Dade <stephen_dade@hotmail.com>
Date: Wed, 17 Aug 2022 12:18:38 +1000
Subject: [PATCH] Copter: Make mode flowhold a build option via
 MODE_FLOWHOLD_ENABLED

---
 ArduCopter/Copter.h          | 2 +-
 ArduCopter/Parameters.cpp    | 4 ++--
 ArduCopter/config.h          | 6 ++++++
 ArduCopter/mode.cpp          | 2 +-
 ArduCopter/mode.h            | 4 ++--
 ArduCopter/mode_flowhold.cpp | 4 ++--
 6 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 6fb0ea93b3..7aa514ac69 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -983,7 +983,7 @@ private:
 #if MODE_SMARTRTL_ENABLED == ENABLED
     ModeSmartRTL mode_smartrtl;
 #endif
-#if !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
+#if MODE_FLOWHOLD_ENABLED == ENABLED
     ModeFlowHold mode_flowhold;
 #endif
 #if MODE_ZIGZAG_ENABLED == ENABLED
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index db8d5c582b..641d527c64 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -885,7 +885,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("LAND_ALT_LOW", 25, ParametersG2, land_alt_low, 1000),
 
-#if !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
+#if MODE_FLOWHOLD_ENABLED == ENABLED
     // @Group: FHLD
     // @Path: mode_flowhold.cpp
     AP_SUBGROUPPTR(mode_flowhold_ptr, "FHLD", 26, ParametersG2, ModeFlowHold),
@@ -1160,7 +1160,7 @@ ParametersG2::ParametersG2(void)
 #if MODE_SMARTRTL_ENABLED == ENABLED
     ,smart_rtl()
 #endif
-#if !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
+#if MODE_FLOWHOLD_ENABLED == ENABLED
     ,mode_flowhold_ptr(&copter.mode_flowhold)
 #endif
 #if MODE_FOLLOW_ENABLED == ENABLED
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index cb87f65dc3..10eb35943c 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -319,6 +319,12 @@
 # define MODE_TURTLE_ENABLED !HAL_MINIMIZE_FEATURES && !defined(DISABLE_DSHOT) && FRAME_CONFIG != HELI_FRAME
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Flowhold - use optical flow to hover in place
+#ifndef MODE_FLOWHOLD_ENABLED
+# define MODE_FLOWHOLD_ENABLED !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 9e2083fc5d..cbeabbdbc5 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -139,7 +139,7 @@ Mode *Copter::mode_from_mode_num(const Mode::Number mode)
             break;
 #endif
 
-#if AP_OPTICALFLOW_ENABLED
+#if MODE_FLOWHOLD_ENABLED == ENABLED
         case Mode::Number::FLOWHOLD:
             ret = (Mode *)g2.mode_flowhold_ptr;
             break;
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 66f47644b1..f49f788fb7 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -836,7 +836,7 @@ private:
 };
 
 
-#if !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
+#if MODE_FLOWHOLD_ENABLED == ENABLED
 /*
   class to support FLOWHOLD mode, which is a position hold mode using
   optical flow directly, avoiding the need for a rangefinder
@@ -922,7 +922,7 @@ private:
     // last time there was significant stick input
     uint32_t last_stick_input_ms;
 };
-#endif // AP_OPTICALFLOW_ENABLED
+#endif // MODE_FLOWHOLD_ENABLED
 
 
 class ModeGuided : public Mode {
diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
index cb4c9fde1e..91814ab45f 100644
--- a/ArduCopter/mode_flowhold.cpp
+++ b/ArduCopter/mode_flowhold.cpp
@@ -1,7 +1,7 @@
 #include "Copter.h"
 #include <utility>
 
-#if !HAL_MINIMIZE_FEATURES && AP_OPTICALFLOW_ENABLED
+#if MODE_FLOWHOLD_ENABLED == ENABLED
 
 /*
   implement FLOWHOLD mode, for position hold using optical flow
@@ -509,4 +509,4 @@ void ModeFlowHold::update_height_estimate(void)
     last_ins_height = ins_height;
 }
 
-#endif // AP_OPTICALFLOW_ENABLED
+#endif // MODE_FLOWHOLD_ENABLED