From 8e143aa637f21fcd2fb2a53c8644fc3bf88484f8 Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Mon, 19 Mar 2018 15:02:14 +0100
Subject: [PATCH] Copter: Do not switch into a disabled flight mode

---
 ArduCopter/switches.cpp | 38 ++++++++++++++++++++++++--------------
 1 file changed, 24 insertions(+), 14 deletions(-)

diff --git a/ArduCopter/switches.cpp b/ArduCopter/switches.cpp
index 93834553d1..6f8e8c3f41 100644
--- a/ArduCopter/switches.cpp
+++ b/ArduCopter/switches.cpp
@@ -232,6 +232,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             break;
 
         case AUXSW_RTL:
+#if MODE_RTL_ENABLED == ENABLED
             if (ch_flag == AUX_SWITCH_HIGH) {
                 // engage RTL (if not possible we remain in current flight mode)
                 set_mode(RTL, MODE_REASON_TX_COMMAND);
@@ -241,6 +242,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                     reset_control_switch();
                 }
             }
+#endif
             break;
 
         case AUXSW_SAVE_TRIM:
@@ -249,8 +251,8 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             }
             break;
 
-#if MODE_AUTO_ENABLED == ENABLED
         case AUXSW_SAVE_WP:
+#if MODE_AUTO_ENABLED == ENABLED
             // save waypoint when switch is brought high
             if (ch_flag == AUX_SWITCH_HIGH) {
 
@@ -302,14 +304,29 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                     Log_Write_Event(DATA_SAVEWP_ADD_WP);
                 }
             }
+#endif
             break;
 
         case AUXSW_MISSION_RESET:
+#if MODE_AUTO_ENABLED == ENABLED
             if (ch_flag == AUX_SWITCH_HIGH) {
                 mission.reset();
             }
-            break;
 #endif
+            break;
+
+        case AUXSW_AUTO:
+#if MODE_AUTO_ENABLED == ENABLED
+            if (ch_flag == AUX_SWITCH_HIGH) {
+                set_mode(AUTO, MODE_REASON_TX_COMMAND);
+            } else {
+                // return to flight mode switch's flight mode if we are currently in AUTO
+                if (control_mode == AUTO) {
+                    reset_control_switch();
+                }
+            }
+#endif
+            break;
 
         case AUXSW_CAMERA_TRIGGER:
 #if CAMERA == ENABLED
@@ -385,17 +402,6 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
 #endif
             break;
 
-        case AUXSW_AUTO:
-            if (ch_flag == AUX_SWITCH_HIGH) {
-                set_mode(AUTO, MODE_REASON_TX_COMMAND);
-            } else {
-                // return to flight mode switch's flight mode if we are currently in AUTO
-                if (control_mode == AUTO) {
-                    reset_control_switch();
-                }
-            }
-            break;
-
         case AUXSW_AUTOTUNE:
 #if AUTOTUNE_ENABLED == ENABLED
             // turn on auto tuner
@@ -534,6 +540,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             break;
 
         case AUXSW_BRAKE:
+#if MODE_BRAKE_ENABLED == ENABLED
             // brake flight mode
             if (ch_flag == AUX_SWITCH_HIGH) {
                 set_mode(BRAKE, MODE_REASON_TX_COMMAND);
@@ -543,6 +550,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                     reset_control_switch();
                 }
             }
+#endif
             break;
 
         case AUXSW_THROW:
@@ -612,6 +620,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             break;
 
         case AUXSW_SMART_RTL:
+#if MODE_SMARTRTL_ENABLED == ENABLED
             if (ch_flag == AUX_SWITCH_HIGH) {
                 // engage SmartRTL (if not possible we remain in current flight mode)
                 set_mode(SMART_RTL, MODE_REASON_TX_COMMAND);
@@ -621,8 +630,9 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                     reset_control_switch();
                 }
             }
+#endif
             break;
-            
+
         case AUXSW_INVERTED:
 #if FRAME_CONFIG == HELI_FRAME
             switch (ch_flag) {