From eeadfa0d9215d642dad560e1a9cdbabd0e939058 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Fri, 25 Nov 2016 18:50:34 -0500
Subject: [PATCH] Sub: Disable TRANSECT parameters

---
 ArduSub/APM_Config.h | 1 -
 ArduSub/Parameters.h | 9 ++++++---
 ArduSub/config.h     | 8 ++++++++
 3 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/ArduSub/APM_Config.h b/ArduSub/APM_Config.h
index 387ef85383..a73c726f4e 100644
--- a/ArduSub/APM_Config.h
+++ b/ArduSub/APM_Config.h
@@ -29,7 +29,6 @@
 //#define CLI_ENABLED           DISABLED            // disable the CLI (command-line-interface) to save 21K of flash space
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define OPTFLOW               DISABLED            // disable optical flow sensor to save 5K of flash space
-#define TRANSECT_ENABLED      DISABLED
 
 // features below are disabled by default on all boards
 //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE   // disable mode changes from GCS during Radio failsafes.  Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index 8db55520dd..ccb80d0769 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -448,9 +448,10 @@ public:
 
 
 
-
+#if TRANSECT_ENABLED == ENABLED
 	AC_PID pid_crosstrack_control;
 	AC_PID pid_heading_control;
+#endif
 
 
     // Autotune
@@ -492,11 +493,13 @@ public:
         //----------------------------------------------------------------------
         p_pos_xy                (POS_XY_P),
 
-        p_alt_hold              (ALT_HOLD_P),
+        p_alt_hold              (ALT_HOLD_P)
 
+#if TRANSECT_ENABLED == ENABLED
+		,
 		pid_crosstrack_control  (XTRACK_P,        XTRACK_I,         XTRACK_D,       XTRACK_IMAX,        XTRACK_FILT_HZ,      XTRACK_DT),
-
 		pid_heading_control     (HEAD_P,		  HEAD_I,           HEAD_D,         HEAD_IMAX,          HEAD_FILT_HZ,       HEAD_DT)
+#endif
 
     {
     }
diff --git a/ArduSub/config.h b/ArduSub/config.h
index bd02ec5ec6..5619cb4d74 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -102,6 +102,14 @@
 # define RCMAP_ENABLED DISABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Experimental transect modes
+//
+
+#ifndef TRANSECT_ENABLED
+# define TRANSECT_ENABLED DISABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Rangefinder
 //