From 8644f4d76ebc0a6b99bd91c2130bbfc7e15d7a1f Mon Sep 17 00:00:00 2001
From: murata <ma2maru@gmail.com>
Date: Mon, 25 Feb 2019 23:32:52 +0900
Subject: [PATCH] Copter: Disable option code

Copter: Revert change

Copter: Change mistakes
---
 ArduCopter/config.h              | 12 ++++++++++++
 ArduCopter/mode_brake.cpp        |  4 ++++
 ArduCopter/mode_guided.cpp       |  6 +++++-
 ArduCopter/mode_guided_nogps.cpp |  4 ++++
 ArduCopter/mode_loiter.cpp       |  4 ++++
 ArduCopter/mode_poshold.cpp      |  4 ++++
 ArduCopter/mode_rtl.cpp          |  4 ++++
 ArduCopter/mode_sport.cpp        |  4 ++++
 8 files changed, 41 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 73f03fed52..f49d0aa768 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -704,6 +704,18 @@
   #error Helicopter frame requires acro mode support which is disabled
 #endif
 
+#if MODE_SMARTRTL_ENABLED && !MODE_RTL_ENABLED
+  #error SmartRTL requires ModeRTL which is disabled
+#endif
+
+#if ADSB_ENABLED && !MODE_GUIDED_ENABLED
+  #error ADSB requires ModeGuided which is disabled
+#endif
+
+#if MODE_FOLLOW_ENABLED && !MODE_GUIDED_ENABLED
+  #error Follow requires ModeGuided which is disabled
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Developer Items
 //
diff --git a/ArduCopter/mode_brake.cpp b/ArduCopter/mode_brake.cpp
index 8d64d618e3..08a925b900 100644
--- a/ArduCopter/mode_brake.cpp
+++ b/ArduCopter/mode_brake.cpp
@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_BRAKE_ENABLED == ENABLED
+
 /*
  * Init and run calls for brake flight mode
  */
@@ -79,3 +81,5 @@ void Copter::ModeBrake::timeout_to_loiter_ms(uint32_t timeout_ms)
     _timeout_start = millis();
     _timeout_ms = timeout_ms;
 }
+
+#endif
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 0a744b75bb..1476b9656e 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_GUIDED_ENABLED == ENABLED
+
 /*
  * Init and run calls for guided flight mode
  */
@@ -666,7 +668,7 @@ void Copter::ModeGuided::set_desired_velocity_with_accel_and_fence_limits(const
     // limit the velocity to prevent fence violations
     copter.avoid.adjust_velocity(pos_control->get_pos_xy_p().kP(), pos_control->get_max_accel_xy(), curr_vel_des, G_Dt);
     // get avoidance adjusted climb rate
-    curr_vel_des.z = get_avoidance_adjusted_climbrate(curr_vel_des.z);    
+    curr_vel_des.z = get_avoidance_adjusted_climbrate(curr_vel_des.z);
 #endif
 
     // update position controller with new target
@@ -785,3 +787,5 @@ float Copter::ModeGuided::crosstrack_error() const
         return 0;
     }
 }
+
+#endif
diff --git a/ArduCopter/mode_guided_nogps.cpp b/ArduCopter/mode_guided_nogps.cpp
index 920532256e..994589f90c 100644
--- a/ArduCopter/mode_guided_nogps.cpp
+++ b/ArduCopter/mode_guided_nogps.cpp
@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_GUIDED_NOGPS_ENABLED == ENABLED
+
 /*
  * Init and run calls for guided_nogps flight mode
  */
@@ -19,3 +21,5 @@ void Copter::ModeGuidedNoGPS::run()
     // run angle controller
     Copter::ModeGuided::angle_control_run();
 }
+
+#endif
diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
index f63c593cd1..f110e91375 100644
--- a/ArduCopter/mode_loiter.cpp
+++ b/ArduCopter/mode_loiter.cpp
@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_LOITER_ENABLED == ENABLED
+
 /*
  * Init and run calls for loiter flight mode
  */
@@ -238,3 +240,5 @@ int32_t Copter::ModeLoiter::wp_bearing() const
 {
     return loiter_nav->get_bearing_to_target();
 }
+
+#endif
diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
index 7d24c33a00..a732084d90 100644
--- a/ArduCopter/mode_poshold.cpp
+++ b/ArduCopter/mode_poshold.cpp
@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_POSHOLD_ENABLED == ENABLED
+
 /*
  * Init and run calls for PosHold flight mode
  *     PosHold tries to improve upon regular loiter by mixing the pilot input with the loiter controller
@@ -667,3 +669,5 @@ void Copter::ModePosHold::poshold_pitch_controller_to_pilot_override()
     // store final loiter outputs for mixing with pilot input
     poshold.controller_final_pitch = poshold.pitch;
 }
+
+#endif
diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
index c1da00deeb..520025427d 100644
--- a/ArduCopter/mode_rtl.cpp
+++ b/ArduCopter/mode_rtl.cpp
@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_RTL_ENABLED == ENABLED
+
 /*
  * Init and run calls for RTL flight mode
  *
@@ -492,3 +494,5 @@ int32_t Copter::ModeRTL::wp_bearing() const
 {
     return wp_nav->get_wp_bearing_to_destination();
 }
+
+#endif
diff --git a/ArduCopter/mode_sport.cpp b/ArduCopter/mode_sport.cpp
index 9c95cfcd83..76a079812f 100644
--- a/ArduCopter/mode_sport.cpp
+++ b/ArduCopter/mode_sport.cpp
@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_SPORT_ENABLED == ENABLED
+
 /*
  * Init and run calls for sport flight mode
  */
@@ -165,3 +167,5 @@ void Copter::ModeSport::run()
         break;
     }
 }
+
+#endif