From b8c432b1a13d3320762c8b4baa009b435b33e9aa Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 23 Feb 2018 15:09:07 +1100
Subject: [PATCH] Copter: add option to disable GUIDED flight mode

Saves about 6kB of flash
---
 ArduCopter/APM_Config.h    |  1 +
 ArduCopter/Copter.h        |  2 ++
 ArduCopter/GCS_Mavlink.cpp |  2 ++
 ArduCopter/config.h        | 10 ++++++++++
 ArduCopter/mode.cpp        |  2 ++
 ArduCopter/takeoff.cpp     |  2 ++
 6 files changed, 19 insertions(+)

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 41f51db89e..c254703f52 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -25,6 +25,7 @@
 //#define WINCH_ENABLED         DISABLED            // disable winch support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support
 //#define MODE_DRIFT_ENABLED    DISABLED            // disable drift mode support
+//#define MODE_GUIDED_ENABLED   DISABLED            // disable guided 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 c0d7fd8136..97d7d711e8 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -968,7 +968,9 @@ private:
     ModeDrift mode_drift;
 #endif
     ModeFlip mode_flip;
+#if MODE_GUIDED_ENABLED == ENABLED
     ModeGuided mode_guided;
+#endif
     ModeLand mode_land;
 #if MODE_LOITER_ENABLED == ENABLED
     ModeLoiter mode_loiter;
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index b6d14f64ce..289a486137 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1341,6 +1341,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         break;
     }
 
+#if MODE_GUIDED_ENABLED == ENABLED
     case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:   // MAV ID: 82
     {
         // decode packet
@@ -1581,6 +1582,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
 
         break;
     }
+#endif
 
     case MAVLINK_MSG_ID_DISTANCE_SENSOR:
     {
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 299076e6c9..e040b56f67 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -279,6 +279,12 @@
 # define MODE_DRIFT_ENABLED ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Guided mode - control vehicle's position or angles from GCS
+#ifndef MODE_GUIDED_ENABLED
+# define MODE_GUIDED_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Loiter mode - allows vehicle to hold global position
 #ifndef MODE_LOITER_ENABLED
@@ -616,6 +622,10 @@
   #error AC_Avoidance relies on AC_FENCE which is disabled
 #endif
 
+#if MODE_AUTO_ENABLED && !MODE_GUIDED_ENABLED
+  #error ModeAuto requires ModeGuided which is disabled
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Developer Items
 //
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index c9b8896f8d..d75b91f823 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -66,9 +66,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
             break;
 #endif
 
+#if MODE_GUIDED_ENABLED == ENABLED
         case GUIDED:
             ret = &mode_guided;
             break;
+#endif
 
         case LAND:
             ret = &mode_land;
diff --git a/ArduCopter/takeoff.cpp b/ArduCopter/takeoff.cpp
index 401fe0a413..5116c8120e 100644
--- a/ArduCopter/takeoff.cpp
+++ b/ArduCopter/takeoff.cpp
@@ -36,12 +36,14 @@ bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
 #endif
 
         switch(control_mode) {
+#if MODE_GUIDED_ENABLED == ENABLED
             case GUIDED:
                 if (mode_guided.takeoff_start(takeoff_alt_cm)) {
                     set_auto_armed(true);
                     return true;
                 }
                 return false;
+#endif
             case LOITER:
             case POSHOLD:
             case ALT_HOLD: