From 5fcd2de4fa2233722251542455c6fcde70b41012 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 15 Apr 2021 13:14:12 +0900
Subject: [PATCH] Copter: attitude target thrust-as-thrust bit moved from
 DEV_OPTIONS to GUID_OPTIONS

---
 ArduCopter/GCS_Mavlink.cpp | 2 +-
 ArduCopter/Parameters.cpp  | 4 ++--
 ArduCopter/defines.h       | 1 -
 ArduCopter/mode.h          | 4 ++++
 ArduCopter/mode_guided.cpp | 6 ++++++
 5 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 8552cce0b6..8b62022db4 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1058,7 +1058,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
         }
 
         // check if the message's thrust field should be interpreted as a climb rate or as thrust
-        const bool use_thrust = copter.g2.dev_options.get() & DevOptionSetAttitudeTarget_ThrustAsThrust;
+        const bool use_thrust = copter.mode_guided.set_attitude_target_provides_thrust();
 
         float climb_rate_or_thrust;
         if (use_thrust) {
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 7bd4589e88..8ee4f0b844 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -813,7 +813,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: DEV_OPTIONS
     // @DisplayName: Development options
     // @Description: Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning
-    // @Bitmask: 0:ADSBMavlinkProcessing,1:DevOptionVFR_HUDRelativeAlt,2:SetAttitudeTarget_ThrustAsThrust
+    // @Bitmask: 0:ADSBMavlinkProcessing,1:DevOptionVFR_HUDRelativeAlt
     // @User: Advanced
     AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),
 
@@ -1026,7 +1026,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: GUID_OPTIONS
     // @DisplayName: Guided mode options
     // @Description: Options that can be applied to change guided mode behaviour
-    // @Bitmask: 0:Allow Arming from Transmitter,2:Ignore pilot yaw
+    // @Bitmask: 0:Allow Arming from Transmitter,2:Ignore pilot yaw,3:SetAttitudeTarget_ThrustAsThrust
     // @User: Advanced
     AP_GROUPINFO("GUID_OPTIONS", 41, ParametersG2, guided_options, 0),
 #endif
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index cd8763b15b..a03ae3bbd1 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -131,7 +131,6 @@ enum PayloadPlaceStateType {
 enum DevOptions {
     DevOptionADSBMAVLink = 1,
     DevOptionVFR_HUDRelativeAlt = 2,
-    DevOptionSetAttitudeTarget_ThrustAsThrust = 4,
 };
 
 //  Logging parameters
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 6c84033401..64533112de 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -837,6 +837,9 @@ public:
     void set_velocity(const Vector3f& velocity, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false, bool log_request = true);
     bool set_destination_posvel(const Vector3f& destination, const Vector3f& velocity, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false);
 
+    // returns true if GUIDED_OPTIONS param suggests SET_ATTITUDE_TARGET's "thrust" field should be interpreted as thrust instead of climb rate
+    bool set_attitude_target_provides_thrust() const;
+
     void limit_clear();
     void limit_init_time_and_pos();
     void limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_max_cm, float horiz_max_cm);
@@ -875,6 +878,7 @@ private:
         AllowArmingFromTX = (1U << 0),
         // this bit is still available, pilot yaw was mapped to bit 2 for symmetry with auto
         IgnorePilotYaw    = (1U << 2),
+        SetAttitudeTarget_ThrustAsThrust = (1U << 3),
     };
 
     void pos_control_start();
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index b66d49d8a2..74fbd03abd 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -367,6 +367,12 @@ bool ModeGuided::set_destination_posvel(const Vector3f& destination, const Vecto
     return true;
 }
 
+// returns true if GUIDED_OPTIONS param suggests SET_ATTITUDE_TARGET's "thrust" field should be interpreted as thrust instead of climb rate
+bool ModeGuided::set_attitude_target_provides_thrust() const
+{
+    return ((copter.g2.guided_options.get() & uint32_t(Options::SetAttitudeTarget_ThrustAsThrust)) != 0);
+}
+
 // set guided mode angle target and climbrate
 void ModeGuided::set_angle(const Quaternion &q, float climb_rate_cms_or_thrust, bool use_yaw_rate, float yaw_rate_rads, bool use_thrust)
 {