Copter: add option to disable AUTO mode

Saves ~12k of flash

ArduCopter/APM_Config.h

@@ -23,6 +23,7 @@
 //#define PRECISION_LANDING     DISABLED            // disable precision landing using companion computer or IRLock sensor
 //#define SPRAYER               DISABLED            // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
 //#define WINCH_ENABLED         DISABLED            // disable winch support
+//#define MODE_AUTO_ENABLED     DISABLED            // disable auto 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/Copter.h

@@ -241,6 +241,7 @@ private:
 #endif
 
     // Mission library
+#if MODE_AUTO_ENABLED == ENABLED
     AP_Mission mission{ahrs,
             FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
             FUNCTOR_BIND_MEMBER(&Copter::verify_command_callback, bool, const AP_Mission::Mission_Command &),
@@ -255,6 +256,7 @@ private:
     void exit_mission() {
         mode_auto.exit_mission();
     }
+#endif
 
     // Arming/Disarming mangement class
     AP_Arming_Copter arming{ahrs, barometer, compass, battery, inertial_nav, ins};
@@ -954,7 +956,9 @@ private:
     ModeAcro mode_acro;
 #endif
     ModeAltHold mode_althold;
+#if MODE_AUTO_ENABLED == ENABLED
     ModeAuto mode_auto;
+#endif
 #if AUTOTUNE_ENABLED == ENABLED
     ModeAutoTune mode_autotune;
 #endif

ArduCopter/GCS_Mavlink.cpp

@@ -669,7 +669,11 @@ GCS_MAVLINK_Copter::data_stream_send(void)
 
 bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
 {
+#if MODE_AUTO_ENABLED == ENABLED
     return copter.mode_auto.do_guided(cmd);
+#else
+    return false;
+#endif
 }
 
 void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
@@ -1025,6 +1029,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
 #endif
             break;
 
+#if MODE_AUTO_ENABLED == ENABLED
         case MAV_CMD_MISSION_START:
             if (copter.motors->armed() && copter.set_mode(AUTO, MODE_REASON_GCS_COMMAND)) {
                 copter.set_auto_armed(true);
@@ -1034,6 +1039,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
                 result = MAV_RESULT_ACCEPTED;
             }
             break;
+#endif
 
         case MAV_CMD_PREFLIGHT_CALIBRATION:
             // exit immediately if armed
@@ -1793,7 +1799,11 @@ bool GCS_MAVLINK_Copter::accept_packet(const mavlink_status_t &status, mavlink_m
 
 AP_Mission *GCS_MAVLINK_Copter::get_mission()
 {
+#if MODE_AUTO_ENABLED == ENABLED
     return &copter.mission;
+#else
+    return nullptr;
+#endif
 }
 
 Compass *GCS_MAVLINK_Copter::get_compass() const

ArduCopter/Parameters.cpp

@@ -725,9 +725,11 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
     GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),
 
+#if MODE_AUTO_ENABLED == ENABLED
     // @Group: MIS_
     // @Path: ../libraries/AP_Mission/AP_Mission.cpp
     GOBJECT(mission, "MIS_",       AP_Mission),
+#endif
 
     // @Group: RSSI_
     // @Path: ../libraries/AP_RSSI/AP_RSSI.cpp

ArduCopter/commands.cpp

@@ -85,6 +85,7 @@ bool Copter::set_home(const Location& loc, bool lock)
         // record home is set
         set_home_state(HOME_SET_NOT_LOCKED);
 
+#if MODE_AUTO_ENABLED == ENABLED
         // log new home position which mission library will pull from ahrs
         if (should_log(MASK_LOG_CMD)) {
             AP_Mission::Mission_Command temp_cmd;
@@ -92,6 +93,7 @@ bool Copter::set_home(const Location& loc, bool lock)
                 DataFlash.Log_Write_Mission_Cmd(mission, temp_cmd);
             }
         }
+#endif
     }
 
     // lock home position

ArduCopter/commands_logic.cpp

@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_AUTO_ENABLED == ENABLED
+
 // start_command - this function will be called when the ap_mission lib wishes to start a new command
 bool Copter::ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
 {
@@ -1192,3 +1194,5 @@ void Copter::ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd)
     copter.camera_mount.set_angle_targets(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw);
 #endif
 }
+
+#endif

ArduCopter/config.h

@@ -267,6 +267,12 @@
  # define NAV_GUIDED    ENABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Auto mode - allows vehicle to trace waypoints and perform automated actions
+#ifndef MODE_AUTO_ENABLED
+# define MODE_AUTO_ENABLED ENABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION
 //////////////////////////////////////////////////////////////////////////////

ArduCopter/mode.cpp

@@ -50,9 +50,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
             ret = &mode_althold;
             break;
 
+#if MODE_AUTO_ENABLED == ENABLED
         case AUTO:
             ret = &mode_auto;
             break;
+#endif
 
         case CIRCLE:
             ret = &mode_circle;
@@ -225,6 +227,7 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
 #endif
 
     // stop mission when we leave auto mode
+#if MODE_AUTO_ENABLED == ENABLED
     if (old_flightmode == &mode_auto) {
         if (mission.state() == AP_Mission::MISSION_RUNNING) {
             mission.stop();
@@ -233,6 +236,7 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
         camera_mount.set_mode_to_default();
 #endif  // MOUNT == ENABLED
     }
+#endif
 
     // smooth throttle transition when switching from manual to automatic flight modes
     if (old_flightmode->has_manual_throttle() && !new_flightmode->has_manual_throttle() && motors->armed() && !ap.land_complete) {

ArduCopter/mode_auto.cpp

@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#if MODE_AUTO_ENABLED == ENABLED
+
 /*
  * Init and run calls for auto flight mode
  *
@@ -577,6 +579,8 @@ void Copter::ModeAuto::loiter_run()
     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
 }
 
+#endif
+
 // get_default_auto_yaw_mode - returns auto_yaw_mode based on WP_YAW_BEHAVIOR parameter
 // set rtl parameter to true if this is during an RTL
 uint8_t Copter::get_default_auto_yaw_mode(bool rtl)
@@ -762,6 +766,8 @@ float Copter::get_auto_yaw_rate_cds(void)
     return 0.0f;
 }
 
+#if MODE_AUTO_ENABLED == ENABLED
+
 // auto_payload_place_start - initialises controller to implement a placing
 void Copter::ModeAuto::payload_place_start()
 {
@@ -868,3 +874,5 @@ void Copter::ModeAuto::payload_place_run_descend()
     copter.land_run_horizontal_control();
     copter.land_run_vertical_control();
 }
+
+#endif

ArduCopter/motors.cpp

@@ -272,8 +272,10 @@ void Copter::init_disarm_motors()
     // send disarm command to motors
     motors->armed(false);
 
+#if MODE_AUTO_ENABLED == ENABLED
     // reset the mission
     mission.reset();
+#endif
 
     DataFlash_Class::instance()->set_vehicle_armed(false);
 

ArduCopter/switches.cpp

@@ -249,6 +249,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             }
             break;
 
+#if MODE_AUTO_ENABLED == ENABLED
         case AUXSW_SAVE_WP:
             // save waypoint when switch is brought high
             if (ch_flag == AUX_SWITCH_HIGH) {
@@ -303,6 +304,13 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             }
             break;
 
+        case AUXSW_MISSION_RESET:
+            if (ch_flag == AUX_SWITCH_HIGH) {
+                mission.reset();
+            }
+            break;
+#endif
+
         case AUXSW_CAMERA_TRIGGER:
 #if CAMERA == ENABLED
             if (ch_flag == AUX_SWITCH_HIGH) {
@@ -451,12 +459,6 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
 #endif
             break;
 
-        case AUXSW_MISSION_RESET:
-            if (ch_flag == AUX_SWITCH_HIGH) {
-                mission.reset();
-            }
-            break;
-
         case AUXSW_ATTCON_FEEDFWD:
             // enable or disable feed forward
             attitude_control->bf_feedforward(ch_flag == AUX_SWITCH_HIGH);

ArduCopter/system.cpp

@@ -231,14 +231,18 @@ void Copter::init_ardupilot()
     // initialise AP_RPM library
     rpm_sensor.init();
 
+#if MODE_AUTO_ENABLED == ENABLED
     // initialise mission library
     mission.init();
+#endif
 
     // initialize SmartRTL
     g2.smart_rtl.init();
 
     // initialise DataFlash library
+#if MODE_AUTO_ENABLED == ENABLED
     DataFlash.set_mission(&mission);
+#endif
     DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&copter, &Copter::Log_Write_Vehicle_Startup_Messages, void));
 
     // initialise the flight mode and aux switch