Copter: add option to disable SmartRTL mode

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ArduCopter/APM_Config.h

@@ -25,6 +25,8 @@
 //#define WINCH_ENABLED         DISABLED            // disable winch support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support
 //#define MODE_POSHOLD_ENABLED  DISABLED            // disable poshold mode support
+//#define MODE_SMARTRTL_ENABLED DISABLED            // disable smartrtl mode support
+
 
 // features below are disabled by default on all boards
 //#define CAL_ALWAYS_REBOOT                         // flight controller will reboot after compass or accelerometer calibration completes

ArduCopter/ArduCopter.cpp

@@ -106,7 +106,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(update_altitude,       10,    100),
     SCHED_TASK(run_nav_updates,       50,    100),
     SCHED_TASK(update_throttle_hover,100,     90),
+#if MODE_SMARTRTL_ENABLED == ENABLED
     SCHED_TASK_CLASS(Copter::ModeSmartRTL, &copter.mode_smartrtl,       save_position,    3, 100),
+#endif
     SCHED_TASK(three_hz_loop,          3,     75),
     SCHED_TASK(compass_accumulate,   100,    100),
     SCHED_TASK_CLASS(AP_Baro,              &copter.barometer,           accumulate,      50,  90),

ArduCopter/Copter.h

@@ -984,7 +984,9 @@ private:
 #endif
     ModeThrow mode_throw;
     ModeGuidedNoGPS mode_guided_nogps;
+#if MODE_SMARTRTL_ENABLED == ENABLED
     ModeSmartRTL mode_smartrtl;
+#endif
 #if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
     ModeFlowHold mode_flowhold;
 #endif

ArduCopter/Parameters.cpp

@@ -944,9 +944,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(toy_mode, "TMODE", 20, ParametersG2, ToyMode),
 #endif
 
+#if MODE_SMARTRTL_ENABLED == ENABLED
     // @Group: SRTL_
     // @Path: ../libraries/AP_SmartRTL/AP_SmartRTL.cpp
     AP_SUBGROUPINFO(smart_rtl, "SRTL_", 21, ParametersG2, AP_SmartRTL),
+#endif
 
 #if WINCH_ENABLED == ENABLED
     // @Group: WENC
@@ -997,8 +999,9 @@ ParametersG2::ParametersG2(void)
 #if ADVANCED_FAILSAFE == ENABLED
     ,afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
 #endif
+#if MODE_SMARTRTL_ENABLED == ENABLED
     ,smart_rtl(copter.ahrs)
-    ,temp_calibration(copter.barometer, copter.ins)
+#endif
 #if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
     ,mode_flowhold_ptr(&copter.mode_flowhold)
 #endif

ArduCopter/Parameters.h

@@ -549,8 +549,10 @@ public:
     // control over servo output ranges
     SRV_Channels servo_channels;
 
+#if MODE_SMARTRTL_ENABLED == ENABLED
     // Safe RTL library
     AP_SmartRTL smart_rtl;
+#endif
 
     // wheel encoder and winch
 #if WINCH_ENABLED == ENABLED

ArduCopter/commands.cpp

@@ -35,7 +35,9 @@ void Copter::set_home_to_current_location_inflight() {
             return;
         }
         // we have successfully set AHRS home, set it for SmartRTL
+#if MODE_SMARTRTL_ENABLED == ENABLED
         g2.smart_rtl.set_home(true);
+#endif
     }
 }
 
@@ -48,7 +50,9 @@ bool Copter::set_home_to_current_location(bool lock) {
             return false;
         }
         // we have successfully set AHRS home, set it for SmartRTL
+#if MODE_SMARTRTL_ENABLED == ENABLED
         g2.smart_rtl.set_home(true);
+#endif
         return true;
     }
     return false;

ArduCopter/config.h

@@ -279,6 +279,12 @@
 # define MODE_POSHOLD_ENABLED ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// SmartRTL - allows vehicle to retrace a (loop-eliminated) breadcrumb home
+#ifndef MODE_SMARTRTL_ENABLED
+# define MODE_SMARTRTL_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION
 //////////////////////////////////////////////////////////////////////////////

ArduCopter/mode.cpp

@@ -118,9 +118,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
             ret = &mode_guided_nogps;
             break;
 
+#if MODE_SMARTRTL_ENABLED == ENABLED
         case SMART_RTL:
             ret = &mode_smartrtl;
             break;
+#endif
 
 #if OPTFLOW == ENABLED
         case FLOWHOLD:
@@ -249,10 +251,12 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
     // cancel any takeoffs in progress
     takeoff_stop();
 
+#if MODE_SMARTRTL_ENABLED == ENABLED
     // call smart_rtl cleanup
     if (old_flightmode == &mode_smartrtl) {
         mode_smartrtl.exit();
     }
+#endif
 
 #if FRAME_CONFIG == HELI_FRAME
     // firmly reset the flybar passthrough to false when exiting acro mode.

ArduCopter/mode_smart_rtl.cpp

@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_SMARTRTL_ENABLED == ENABLED
+
 /*
  * Init and run calls for Smart_RTL flight mode
  *
@@ -147,3 +149,5 @@ int32_t Copter::ModeSmartRTL::wp_bearing() const
 {
     return wp_nav->get_wp_bearing_to_destination();
 }
+
+#endif

ArduCopter/motors.cpp

@@ -193,7 +193,9 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
     update_super_simple_bearing(false);
 
     // Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
+#if MODE_SMARTRTL_ENABLED == ENABLED
     g2.smart_rtl.set_home(position_ok());
+#endif
 
     // enable gps velocity based centrefugal force compensation
     ahrs.set_correct_centrifugal(true);

ArduCopter/system.cpp

@@ -236,8 +236,10 @@ void Copter::init_ardupilot()
     mission.init();
 #endif
 
+#if MODE_SMARTRTL_ENABLED == ENABLED
     // initialize SmartRTL
     g2.smart_rtl.init();
+#endif
 
     // initialise DataFlash library
 #if MODE_AUTO_ENABLED == ENABLED