From 7154f4dea4bb4f78e1f75ad146e6e97b836870a1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2018 16:23:35 +1100
Subject: [PATCH] Copter: add option to disable LOITER mode

---
 ArduCopter/APM_Config.h | 1 +
 ArduCopter/Copter.h     | 2 ++
 ArduCopter/config.h     | 6 ++++++
 ArduCopter/mode.cpp     | 2 ++
 ArduCopter/switches.cpp | 2 +-
 5 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 332704f4d1..3268a6a500 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -24,6 +24,7 @@
 //#define SPRAYER               DISABLED            // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
 //#define WINCH_ENABLED         DISABLED            // disable winch support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support
+//#define MODE_LOITER_ENABLED   DISABLED            // disable loiter mode support
 //#define MODE_POSHOLD_ENABLED  DISABLED            // disable poshold mode support
 //#define MODE_SMARTRTL_ENABLED DISABLED            // disable smartrtl mode support
 
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 2b23883932..13121a0a6f 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -968,7 +968,9 @@ private:
     ModeFlip mode_flip;
     ModeGuided mode_guided;
     ModeLand mode_land;
+#if MODE_LOITER_ENABLED == ENABLED
     ModeLoiter mode_loiter;
+#endif
 #if MODE_POSHOLD_ENABLED == ENABLED
     ModePosHold mode_poshold;
 #endif
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index b89091a535..e17925f94a 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -273,6 +273,12 @@
 # define MODE_AUTO_ENABLED ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Loiter mode - allows vehicle to hold global position
+#ifndef MODE_LOITER_ENABLED
+# define MODE_LOITER_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Position Hold - enable holding of global position
 #ifndef MODE_POSHOLD_ENABLED
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index cee4783e29..8ae4d6ec53 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -60,9 +60,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
             ret = &mode_circle;
             break;
 
+#if MODE_LOITER_ENABLED == ENABLED
         case LOITER:
             ret = &mode_loiter;
             break;
+#endif
 
         case GUIDED:
             ret = &mode_guided;
diff --git a/ArduCopter/switches.cpp b/ArduCopter/switches.cpp
index 1a87ab8c63..27453f7ddd 100644
--- a/ArduCopter/switches.cpp
+++ b/ArduCopter/switches.cpp
@@ -569,7 +569,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             break;
 
         case AUXSW_PRECISION_LOITER:
-#if PRECISION_LANDING == ENABLED
+#if PRECISION_LANDING == ENABLED && MODE_LOITER_ENABLED == ENABLED
             switch (ch_flag) {
                 case AUX_SWITCH_HIGH:
                     mode_loiter.set_precision_loiter_enabled(true);