From af53f9ce64e9e432ca52110568b5d807755db7c1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Oct 2020 21:45:40 +1000
Subject: [PATCH] Copter: correct compilation when AUTO/RTL are disabled

---
 ArduCopter/AP_Arming.cpp   | 2 ++
 ArduCopter/GCS_Mavlink.cpp | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 5e4942f636..b39c460f91 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -229,6 +229,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
         #endif // HELI_FRAME
 
         // checks when using range finder for RTL
+#if MODE_RTL_ENABLED == ENABLED
         if (copter.mode_rtl.get_alt_type() == ModeRTL::RTLAltType::RTL_ALTTYPE_TERRAIN) {
             // get terrain source from wpnav
             switch (copter.wp_nav->get_terrain_source()) {
@@ -267,6 +268,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
                 break;
             }
         }
+#endif
 
         // check adsb avoidance failsafe
 #if HAL_ADSB_ENABLED
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index fb526f26e2..c19d78a215 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -697,11 +697,13 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
         return MAV_RESULT_ACCEPTED;
     }
 
+#if MODE_AUTO_ENABLED == ENABLED
     case MAV_CMD_DO_LAND_START:
         if (copter.mode_auto.mission.jump_to_landing_sequence() && copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
             return MAV_RESULT_ACCEPTED;
         }
         return MAV_RESULT_FAILED;
+#endif
 
     case MAV_CMD_NAV_LOITER_UNLIM:
         if (!copter.set_mode(Mode::Number::LOITER, ModeReason::GCS_COMMAND)) {