ArduCopter: allow payload place to be compiled out of code

ArduCopter/config.h

@@ -638,3 +638,7 @@
 #ifndef AC_CUSTOMCONTROL_MULTI_ENABLED
 #define AC_CUSTOMCONTROL_MULTI_ENABLED FRAME_CONFIG == MULTICOPTER_FRAME && AP_CUSTOMCONTROL_ENABLED
 #endif
+
+#ifndef AC_PAYLOAD_PLACE_ENABLED
+#define AC_PAYLOAD_PLACE_ENABLED 1
+#endif

ArduCopter/mode.cpp

@@ -25,7 +25,9 @@ Mode::Mode(void) :
     G_Dt(copter.G_Dt)
 { };
 
+#if AC_PAYLOAD_PLACE_ENABLED
 PayloadPlace Mode::payload_place;
+#endif
 
 // return the static controller object corresponding to supplied mode
 Mode *Copter::mode_from_mode_num(const Mode::Number mode)

ArduCopter/mode.h

@@ -29,6 +29,7 @@ private:
     Vector3p complete_pos;  // target takeoff position as offset from ekf origin in cm
 };
 
+#if AC_PAYLOAD_PLACE_ENABLED
 class PayloadPlace {
 public:
     void run();
@@ -59,6 +60,7 @@ private:
     float descent_start_altitude_cm;
     float descent_speed_cms;
 };
+#endif
 
 class Mode {
     friend class PayloadPlace;
@@ -199,8 +201,10 @@ protected:
         land_run_vertical_control(pause_descent);
     }
 
+#if AC_PAYLOAD_PLACE_ENABLED
     // payload place flight behaviour:
     static PayloadPlace payload_place;
+#endif
 
     // run normal or precision landing (if enabled)
     // pause_descent is true if vehicle should not descend
@@ -497,7 +501,9 @@ public:
         NAVGUIDED,
         LOITER,
         LOITER_TO_ALT,
+#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
         NAV_PAYLOAD_PLACE,
+#endif
         NAV_SCRIPT_TIME,
         NAV_ATTITUDE_TIME,
     };

ArduCopter/mode_auto.cpp

@@ -149,9 +149,11 @@ void ModeAuto::run()
         loiter_to_alt_run();
         break;
 
+#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
     case SubMode::NAV_PAYLOAD_PLACE:
         payload_place.run();
         break;
+#endif
 
     case SubMode::NAV_ATTITUDE_TIME:
         nav_attitude_time_run();
@@ -539,6 +541,7 @@ bool ModeAuto::is_taking_off() const
     return ((_mode == SubMode::TAKEOFF) && !auto_takeoff.complete);
 }
 
+#if AC_PAYLOAD_PLACE_ENABLED
 // auto_payload_place_start - initialises controller to implement a placing
 void PayloadPlace::start_descent()
 {
@@ -568,6 +571,7 @@ void PayloadPlace::start_descent()
 
     state = PayloadPlace::State::Descent_Start;
 }
+#endif
 
 // returns true if pilot's yaw input should be used to adjust vehicle's heading
 bool ModeAuto::use_pilot_yaw(void) const
@@ -657,9 +661,11 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         do_nav_delay(cmd);
         break;
 
+#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
     case MAV_CMD_NAV_PAYLOAD_PLACE:              // 94 place at Waypoint
         do_payload_place(cmd);
         break;
+#endif
 
 #if AP_SCRIPTING_ENABLED
     case MAV_CMD_NAV_SCRIPT_TIME:
@@ -865,9 +871,11 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
         cmd_complete = verify_land();
         break;
 
+#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
     case MAV_CMD_NAV_PAYLOAD_PLACE:
         cmd_complete = payload_place.verify();
         break;
+#endif
 
     case MAV_CMD_NAV_LOITER_UNLIM:
         cmd_complete = verify_loiter_unlimited();
@@ -1158,6 +1166,7 @@ void ModeAuto::nav_attitude_time_run()
     pos_control->update_z_controller();
 }
 
+#if AC_PAYLOAD_PLACE_ENABLED
 // auto_payload_place_run - places an object in auto mode
 //      called by auto_run at 100hz or more
 void PayloadPlace::run()
@@ -1384,6 +1393,7 @@ void PayloadPlace::run()
         break;
     }
 }
+#endif
 
 // sets the target_loc's alt to the vehicle's current alt but does not change target_loc's frame
 // in the case of terrain altitudes either the terrain database or the rangefinder may be used
@@ -1506,11 +1516,13 @@ bool ModeAuto::set_next_wp(const AP_Mission::Mission_Command& current_cmd, const
     case MAV_CMD_NAV_WAYPOINT:
     case MAV_CMD_NAV_LOITER_UNLIM:
     case MAV_CMD_NAV_LOITER_TIME:
+#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
     case MAV_CMD_NAV_PAYLOAD_PLACE: {
         const Location dest_loc = loc_from_cmd(current_cmd, default_loc);
         const Location next_dest_loc = loc_from_cmd(next_cmd, dest_loc);
         return wp_nav->set_wp_destination_next_loc(next_dest_loc);
     }
+#endif
     case MAV_CMD_NAV_SPLINE_WAYPOINT: {
         // get spline's location and next location from command and send to wp_nav
         Location next_dest_loc, next_next_dest_loc;
@@ -1911,6 +1923,7 @@ void ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd)
 }
 #endif
 
+#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
 // do_payload_place - initiate placing procedure
 void ModeAuto::do_payload_place(const AP_Mission::Mission_Command& cmd)
 {
@@ -1942,6 +1955,7 @@ void ModeAuto::do_payload_place(const AP_Mission::Mission_Command& cmd)
     // set submode
     set_submode(SubMode::NAV_PAYLOAD_PLACE);
 }
+#endif  // AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
 
 // do_RTL - start Return-to-Launch
 void ModeAuto::do_RTL(void)
@@ -2011,6 +2025,7 @@ bool ModeAuto::verify_land()
     return retval;
 }
 
+#if AC_PAYLOAD_PLACE_ENABLED
 // verify_payload_place - returns true if placing has been completed
 bool PayloadPlace::verify()
 {
@@ -2030,6 +2045,7 @@ bool PayloadPlace::verify()
     // should never get here
     return true;
 }
+#endif
 
 bool ModeAuto::verify_loiter_unlimited()
 {