Copter: fix compilation when GUIDED, AUTO and CIRCLE modes are disabled

ArduCopter/Copter.cpp

@@ -268,6 +268,7 @@ void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
 constexpr int8_t Copter::_failsafe_priorities[7];
 
 #if AP_SCRIPTING_ENABLED
+#if MODE_GUIDED_ENABLED == ENABLED
 // start takeoff to given altitude (for use by scripting)
 bool Copter::start_takeoff(float alt)
 {
@@ -378,7 +379,9 @@ bool Copter::set_target_angle_and_climbrate(float roll_deg, float pitch_deg, flo
     mode_guided.set_angle(q, Vector3f{}, climb_rate_ms*100, false);
     return true;
 }
+#endif
 
+#if MODE_CIRCLE_ENABLED == ENABLED
 // circle mode controls
 bool Copter::get_circle_radius(float &radius_m)
 {
@@ -391,6 +394,7 @@ bool Copter::set_circle_rate(float rate_dps)
     circle_nav->set_rate(rate_dps);
     return true;
 }
+#endif
 
 // set desired speed (m/s). Used for scripting.
 bool Copter::set_desired_speed(float speed)
@@ -404,6 +408,7 @@ bool Copter::set_desired_speed(float speed)
     return true;
 }
 
+#if MODE_AUTO_ENABLED == ENABLED
 // returns true if mode supports NAV_SCRIPT_TIME mission commands
 bool Copter::nav_scripting_enable(uint8_t mode)
 {
@@ -429,6 +434,7 @@ void Copter::nav_script_time_done(uint16_t id)
 
     return mode_auto.nav_script_time_done(id);
 }
+#endif
 
 // returns true if the EKF failsafe has triggered.  Only used by Lua scripts
 bool Copter::has_ekf_failsafed() const

ArduCopter/Copter.h

@@ -651,6 +651,7 @@ private:
                              uint8_t &task_count,
                              uint32_t &log_bit) override;
 #if AP_SCRIPTING_ENABLED
+#if MODE_GUIDED_ENABLED == ENABLED
     bool start_takeoff(float alt) override;
     bool set_target_location(const Location& target_loc) override;
     bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) override;
@@ -659,12 +660,17 @@ private:
     bool set_target_velocity_NED(const Vector3f& vel_ned) override;
     bool set_target_velaccel_NED(const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool relative_yaw) override;
     bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) override;
+#endif
+#if MODE_CIRCLE_ENABLED == ENABLED
     bool get_circle_radius(float &radius_m) override;
     bool set_circle_rate(float rate_dps) override;
+#endif
     bool set_desired_speed(float speed) override;
+#if MODE_AUTO_ENABLED == ENABLED
     bool nav_scripting_enable(uint8_t mode) override;
     bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) override;
     void nav_script_time_done(uint16_t id) override;
+#endif
     // lua scripts use this to retrieve EKF failsafe state
     // returns true if the EKF failsafe has triggered
     bool has_ekf_failsafed() const override;

ArduCopter/GCS_Mavlink.cpp

@@ -672,6 +672,7 @@ bool GCS_MAVLINK_Copter::set_home(const Location& loc, bool _lock) {
 
 MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_do_reposition(const mavlink_command_int_t &packet)
 {
+#if MODE_GUIDED_ENABLED == ENABLED
     const bool change_modes = ((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) == MAV_DO_REPOSITION_FLAGS_CHANGE_MODE;
     if (!copter.flightmode->in_guided_mode() && !change_modes) {
         return MAV_RESULT_DENIED;
@@ -708,6 +709,9 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_do_reposition(const mavlink_co
     }
 
     return MAV_RESULT_ACCEPTED;
+#else
+    return MAV_RESULT_UNSUPPORTED;
+#endif
 }
 
 MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet)
@@ -1073,6 +1077,7 @@ void GCS_MAVLINK_Copter::handle_manual_control_axes(const mavlink_manual_control
 
 void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
 {
+#if MODE_GUIDED_ENABLED == ENABLED
     // for mavlink SET_POSITION_TARGET messages
     constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE =
         POSITION_TARGET_TYPEMASK_X_IGNORE |
@@ -1095,6 +1100,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
         POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE;
     constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_FORCE_SET =
         POSITION_TARGET_TYPEMASK_FORCE_SET;
+#endif
 
     switch (msg.msgid) {