Copter: Flip mode is an option.

Copter: Flip mode is an option.

ArduCopter/APM_Config.h

@@ -33,6 +33,7 @@
 //#define MODE_BRAKE_ENABLED    DISABLED            // disable brake mode support
 //#define MODE_CIRCLE_ENABLED   DISABLED            // disable circle mode support
 //#define MODE_DRIFT_ENABLED    DISABLED            // disable drift mode support
+//#define MODE_FLIP_ENABLED     DISABLED            // disable flip mode support
 //#define MODE_FOLLOW_ENABLED   DISABLED            // disable follow mode support
 //#define MODE_GUIDED_ENABLED   DISABLED            // disable guided mode support
 //#define MODE_GUIDED_NOGPS_ENABLED   DISABLED      // disable guided/nogps mode support

ArduCopter/Copter.h

@@ -924,7 +924,9 @@ private:
 #if MODE_DRIFT_ENABLED == ENABLED
     ModeDrift mode_drift;
 #endif
+#if MODE_FLIP_ENABLED == ENABLED
     ModeFlip mode_flip;
+#endif
 #if MODE_FOLLOW_ENABLED == ENABLED
     ModeFollow mode_follow;
 #endif

ArduCopter/config.h

@@ -295,6 +295,12 @@
 # define MODE_DRIFT_ENABLED ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// flip - fly vehicle in flip in pitch and roll direction mode
+#ifndef MODE_FLIP_ENABLED
+# define MODE_FLIP_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Follow - follow another vehicle or GCS
 #ifndef MODE_FOLLOW_ENABLED

ArduCopter/mode.cpp

@@ -97,9 +97,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
             break;
 #endif
 
+#if MODE_FLIP_ENABLED == ENABLED
         case FLIP:
             ret = &mode_flip;
             break;
+#endif
 
 #if AUTOTUNE_ENABLED == ENABLED
         case AUTOTUNE:

ArduCopter/mode_flip.cpp

@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_FLIP_ENABLED == ENABLED
+
 /*
  * Init and run calls for flip flight mode
  *      original implementation in 2010 by Jose Julio
@@ -222,3 +224,5 @@ void Copter::ModeFlip::run()
     // output pilot's throttle without angle boost
     attitude_control->set_throttle_out(throttle_out, false, g.throttle_filt);
 }
+
+#endif