From 3f906f6bd1b770de04edac202cb87376a7077736 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 9 Mar 2015 14:18:16 +1100
Subject: [PATCH] Copter: added CLI_ENABLED option

---
 ArduCopter/GCS_Mavlink.pde |  2 +-
 ArduCopter/Parameters.h    |  4 ++++
 ArduCopter/Parameters.pde  |  9 +++++++++
 ArduCopter/system.pde      | 16 +++++++++-------
 4 files changed, 23 insertions(+), 8 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 313d76d6e5..af7b94091f 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1655,7 +1655,7 @@ static void gcs_check_input(void)
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
 #if CLI_ENABLED == ENABLED
-            gcs[i].update(run_cli);
+            gcs[i].update(g.cli_enabled==1?run_cli:NULL);
 #else
             gcs[i].update(NULL);
 #endif
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 4dcb25644e..b10365e888 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -127,6 +127,7 @@ public:
         k_param_optflow,
         k_param_dcmcheck_thresh,        // 59
         k_param_log_bitmask,
+        k_param_cli_enabled,
 
         // 65: AP_Limits Library
         k_param_limits = 65,            // deprecated - remove
@@ -330,6 +331,9 @@ public:
     AP_Int16        sysid_this_mav;
     AP_Int16        sysid_my_gcs;
     AP_Int8         telem_delay;
+#if CLI_ENABLED == ENABLED
+    AP_Int8         cli_enabled;
+#endif
 
     AP_Int16        rtl_altitude;
     AP_Float        sonar_gain;
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 3003008e2a..5656f404c3 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -53,6 +53,15 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Advanced
     GSCALAR(sysid_my_gcs,   "SYSID_MYGCS",     255),
 
+#if CLI_ENABLED == ENABLED
+    // @Param: CLI_ENABLED
+    // @DisplayName: CLI Enable
+    // @Description: This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface
+    // @Values: 0:Disabled,1:Enabled
+    // @User: Advanced
+    GSCALAR(cli_enabled,    "CLI_ENABLED",    0),
+#endif
+
     // @Group: SERIAL
     // @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
     GOBJECT(serial_manager, "SERIAL",   AP_SerialManager),
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 1ec1fab184..57776acded 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -219,13 +219,15 @@ static void init_ardupilot()
 #endif
 
 #if CLI_ENABLED == ENABLED
-    const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
-    cliSerial->println_P(msg);
-    if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
-        gcs[1].get_uart()->println_P(msg);
-    }
-    if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
-        gcs[2].get_uart()->println_P(msg);
+    if (g.cli_enabled) {
+        const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
+        cliSerial->println_P(msg);
+        if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
+            gcs[1].get_uart()->println_P(msg);
+        }
+        if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
+            gcs[2].get_uart()->println_P(msg);
+        }
     }
 #endif // CLI_ENABLED